calculating position using follower wheels

[flameout]

Originally Posted by RyanCahoon

maths222, what coordinate orientation did you use? If X x Y is out of the page (like axes are usually drawn), I think you got your angle sign wrong (the strafe movement cancels out. rotation is clockwise, so the robot's forward movement is toward +X for most of the first half of the movement, and -X for the second half. since the robot moves faster during the second half, a negative result makes sense)

I think he's just reporting the angular orientation of the robot. Since the angular rate does not depend on the location (in the XY plane), it is still facing 15 degrees clockwise from the Y axis.