Hello everyone, who can help calculate the distance for moving sideways using encoders for a 3 wheel omni base? To overcome the forward distance, I kind of found the formula: encoder distance = desired distance * cosine of 30 degrees, this seems to be the correct calculation, since at a setting of 1 meter my robot traveled about 1135 mm. But how to calculate the distance for moving sideways? I understand that you can take the values of the distance traveled only from the rear wheel, but I do not consider this accurate, since when moving sideways, three wheels work for me and not one, because I calculate the average distance traveled by two wheels forward.

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