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Re: pic: Top View
I don't see that a third follower wheel parallel to the other two would give you any additional information. In particular, if your robot strafes (I'm guessing that you're using a skid-steer and that would only happen if you're rammed or otherwise lose lateral traction), you wouldn't know about it. A third wheel with a different orientation would. Useful orientations for three wheels would be delta (kiwi), H, I, and U. A Y configuration would tell you about strafe, but not report rotation.
Edit: Re-reading your description, perhaps you do have what I would call an "I" configuration. My initial reading of "each end of the robot" was left/right, and I thought you were doing differential to get rotation. I now believe that you mean "front/rear", and are orienting those transverse to forward travel.
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Last edited by GeeTwo : 21-09-2015 at 07:00.
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