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Re: Minimum Clearance?
I believe the minimum clearance you need is:
0.134*(the distance between your wheels) = minimum clearance
I wouldn't rely on that math without checking it.
To explain how I got that:
0.134 = tan(15)/2
If the ramp is 30 degrees, the angle at the top is 150 degrees
When the corner is evenly between your wheels, the angle between the bottom of your robot and the ground is 15 degrees on either side of the corner: (15*2 + 150 = 180)
tan(15) = (clearance distance)/(1/2)*(distance between your wheels)
Solving for (clearance distance) yields the above equation
That look right?
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