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Originally Posted by Goldeye
Actually, they do exist in the mcc18 libraries nowadays. They're not ideal if you're running low on time though.
My confusion is: How do you calculate distance_traveled_this_cycle if the wheels are turning at different rates?
Even worse, how do you do it with center-lowered 6 wheel drive?  |
Could you not simply measure the encoder rates on the lowered center wheels? Since those will always be in contact with the floor, a read off of them should be fairly accurate.
No idea about an answer to the different turning rates...not planning on using a complex positioning system this year.