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Originally Posted by Ether
I'd rather not speculate. Let's let Pockets answer the question directed to him.
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I believe he did, in the original post. It's implicit, but the x and y directions definitely imply two wheels:
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We're going to try adding small, non-driven wheels in the center of the robot, perpendicular to each other. Each one will be on a pneumatic powered arm and be connected to an encoder so we can measure how far the robot has traveled in the x and y directions.
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