Quote:
Originally Posted by smarthimandrew
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It's a skid-steer vehicle, so it depends on the phase of the moon and yesterday's lottery numbers.
But seriously, you could use a gyro (as the previous poster suggested), or you could do some simple experiments and measure how much vehicle rotation you get vs how much the wheels turned. Do that under various conditions (like turning speed) and either fit a model to the data or prepare a lookup table. Make sure you use the same carpet as competition when running these tests, and with the competition weight.