Quote:
Originally Posted by mklinker
If not square what code adjustments would need to be made?
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It depends on your driver interface.
If you are giving the driver control of Y,X,and rotate, then no code adjustments would be necessary.
If you have pre-programmed routines in the driver interface (or in autonomous) which depend on commanding specific rotation rates relative to translation commands, then you should scale the rotate command (in radians per second) by a factor K=(wheelbase+trackwidth)/2 as shown on page7 of
this document or page19 of
this one.