My team has a robot where 2 anti-tips are deployed behind the robot once the match starts. The issue I have is that the center of rotation is not necessarily centered. The anti-tips are smaller omniwheels and also farther behind than the wheels in the front. I was looking at this post Here and think that my center of rotation is also a little behind the center of my robot. How would I account for this when making a turn in auton? I’m thinking about using an inertial sensor for the gyroscope but I’m not sure what I’m looking for.
Here is a picture of one side of the drive train. The other side is mirrored.