Then it will be using motor encoders, the drivetrain setup is very important, the gearing (which users often get backwards), wheel size etc. One measurement to be careful of is the wheelbase, see details in these posts about the clawbot.
Wheelbase really depends on which wheels are being driven, just two or all four.
for example, this is V5 clawbot that just drives the front two wheels, wheelbase is measured using the center of rotation in this case.
[image]
I didn’t explain the diagram, should have done that.
and this only applies when not using the inertial sensor for turns.
The calculation to determine how to turn the robot a given number of degrees uses three parameters (well, and gearing but I’m ignoring that here)
wheel circumference (c)
trackwidth, the distance between the wheels, (t)
wheelbase (b)
The wheelbase is where the difficulty comes in, it may be the distance between the wheel axles, but for a robot that, for example, only driv…