Tracking wheels for odometry in tank drives

When making a tank drive, if we want to implement odometry, how many tracking wheels would we need? would we still need a horizontal wheel if the drive doesn’t strafe?

3 Likes

If your drive is locked (can’t be pushed sideways) there is no need for a horizontal tracking wheel. Otherwise a horizontal wheel may be necessary.

4 Likes

thank you for the answer!

1 Like

How would one do this if your drive included omni-wheels?

if your drive can drift to the side at all, it’s advisable to include the third wheel.

3 Likes

Yeah, won’t hurt if you can fit it. it can be useful to have another input to draw from

1 Like