My team will be using an X-Drive for our base this year, and it would help me a lot in programming auton to know how to calculate exactly how many rotations the wheels need to complete to travel a certain distance.

I know there are other topics on this, but with the formulas people show there, one rotation would make an X-Drive go further than one rotation of a standard drive. It seems logical to me that an X-Drive would need to do more rotations than a standard drive to go the same distance because the wheels being at 45 degree angles causes some motion to be canceled.

We aren’t using encoders, but we can get some if it is absolutely necessary.

Thanks in advance!