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#6
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Think of a circle like this:
The Robot Starts with it's wheels like this: ``U __U__ Where the U's are the wheel, and the Lines the limits of movement. I'll use F to show which way the wheel is turning. Please ignore the `'s, the're just for spacing. The driver would start by driving forward 45 deg to the right: ````F ```U __U__ Then All the way to the Right: __UU_F Then Back and to the right: `U __U__ ```F Then straight Down: ``U __U__ ``F Then Down to the left: ```U __U__ `F Then All the way left: F_UU___ And Finally, Up and left: F `U __U__ So, you can get full motion with 180 degrees of pivoting. You just reverse the drive direction based on which side of the Y axis you're on (positive or negative). Sure, you need to move the wheel back some to change your angle, but you'd have to do that anyway. I'll post a link to a quick animation showing the bot doing a circle (3d sim) just in case you can't understand my little ASCII demonstration ![]() Last edited by Sachiel7 : 11-10-2003 at 21:58. |
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