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Re: Leading (and lagging) the Target
the simplist way to get speed is to do time trials with your robot at different PWM outputs to the motors. Time the robot as it runs across two lines about 10 feet apart, and calculate the velocity for each PWM setting
this will give you a rough idea how fast the robot is moving. Of course the real speed will change based on battery charge level, tire wear, drive-train break-in....
but its better than nothing.
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