Theoretical Method For Tank Rotation
Our robot's chassis has 3 wheels on each side in a basic tank configuration (minus the treads). I'm trying to find the number of rotations the wheels would have to move to rotate the entire robot a certain angle, assuming both sides spin opposite of each other to do so. I know I could just count the rotations using an encoder by starting the counter and then rotate the robot manually, but I'm asking if there is a way to look for the number using math instead of trials.
I'm sure there's a simple method to my problem, but I'm having trouble wrapping my head around it.