[RyanCahoon]

Originally Posted by Ether

Question 3:

Spoiler for Question 3:

T=0: (0,0) pi/12 (from +Y axis)

FWD = (5.0 + 1.0*T) ft/s
STR = 4 ft/sec
RCW = 120 degrees/sec

T=3:
x = Integrate[(5 + t)*Sin[(2*Pi/3)*t + Pi/12] + 4*Cos[(2*Pi/3)*t + Pi/12], t, 0, 3]
= -1.3836

y = Integrate[(5 + t)*Cos[(2*Pi/3)*t + Pi/12] - 4*Sin[(2*Pi/3)*t + Pi/12], t, 0, 3]
= 0.3707

angle = (2*Pi/3)*3 + Pi/12 = Pi/12 = 15 degrees

Originally Posted by maths222

...

maths222, what coordinate orientation did you use? If X x Y is out of the page (like axes are usually drawn), I think you got your angle sign wrong (the strafe movement cancels out. rotation is clockwise, so the robot's forward movement is toward +X for most of the first half of the movement, and -X for the second half. since the robot moves faster during the second half, a negative result makes sense)