Quote:
Originally Posted by artdutra04
If two motors are mechanically geared together, they will spin the same speed.
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And if two motors are driving traction wheels on the same side of a robot, one can reasonably assume that they will be spinning the same speed...at least when driving straight or mostly straight. When one wheel is slipping more than another, it's not always easy to decide which one is the best wheel to use as a speed reference. I'd just use two encoders, connected to the section of the drivetrain having the wheels with the most weight on them.