[Ether]

Originally Posted by Ether

Here's how you can check your answer...

This thread keeps getting hits so maybe there's still some interest.

I'll kick-start this, with Step#1 for the Front Right wheel:

> # rad/sec robot rotation around CoM:
> omega=1.098
      1.098
>
> # wheelbase:
> L=24/12
          2
>
> # trackwidth:
> W=30/12
        2.5
>
> # X coordinate of Center of Mass (relative to Center of Geometry):
> Xm=4/12
 0.33333333
>
> # Y coordinate of Center of Mass (relative to Center of Geometry):
> Ym=3/12
       0.25
>
> # X component of carpet motion at FrontRight wheel due to robot rotation:
> V1x=-omega*(L/2-Ym)
    -0.8235
>
> # Y component of carpet motion at FrontRight wheel due to robot rotation:
> V1y=omega*(W/2-Xm)
     1.0065