Quote:
Originally Posted by Ether
I just posted a 2-page summary explanation for those who just want the equations and don't care about the derivation.
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There was a typo error in the fourth equation at the top of Page 2. It should read D = FWD + RCW*(W/R)
I corrected the typo, and
updated the paper to use clockwise angles for the gyro and the wheel steering.