Angle Calculation

W T Degrees 0 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18 19 20 21 22 23 24 25 26 27 28 29 30 31 32 33 34 35 36 37 38 39 40 41 42 43 44 45

0.18 m <- Insert wheel base. 0.14 m <- Insert tread. rad 0 0.017 0.035 0.052 0.070 0.087 0.105 0.122 0.140 0.157 0.174 0.192 0.209 0.227 0.244 0.262 0.279 0.297 0.314 0.331 0.349 0.366 0.384 0.401 0.419 0.436 0.454 0.471 0.488 0.506 0.523 0.541 0.558 0.576 0.593 0.611 0.628 0.645 0.663 0.680 0.698 0.715 0.733 0.750 0.768 0.785

r2

r1

r3

10.031 5.014 3.341 2.504 2.001 1.666 1.426 1.246 1.105 0.993 0.901 0.824 0.758 0.702 0.653 0.611 0.573 0.539 0.509 0.481 0.456 0.433 0.413 0.393 0.376 0.359 0.344 0.329 0.316 0.303 0.291 0.280 0.270 0.260 0.250 0.241 0.232 0.224 0.216 0.209 0.201 0.195 0.188 0.181 0.175

9.961 4.944 3.271 2.434 1.931 1.596 1.356 1.176 1.035 0.923 0.831 0.754 0.688 0.632 0.583 0.541 0.503 0.469 0.439 0.411 0.386 0.363 0.343 0.323 0.306 0.289 0.274 0.259 0.246 0.233 0.221 0.210 0.200 0.190 0.180 0.171 0.162 0.154 0.146 0.139 0.131 0.125 0.118 0.111 0.105

10.101 5.084 3.411 2.574 2.071 1.736 1.496 1.316 1.175 1.063 0.971 0.894 0.828 0.772 0.723 0.681 0.643 0.609 0.579 0.551 0.526 0.503 0.483 0.463 0.446 0.429 0.414 0.399 0.386 0.373 0.361 0.350 0.340 0.330 0.320 0.311 0.302 0.294 0.286 0.279 0.271 0.265 0.258 0.251 0.245

r1/r3*100 100 99 97 96 95 93 92 91 89 88 87 86 84 83 82 81 79 78 77 76 75 73 72 71 70 69 67 66 65 64 62 61 60 59 58 56 55 54 52 51 50 48 47 46 44 43

Insert steering angle. Insert outer wheel rim speed.

15 50

Inner wheel speed(auto-calculate).

40

Example program handle( 15 ) speed(50,40)

<- -90 to 90 <- 0 tot100

const revolution_difference[] = { 100, 99, 97, 96, 95, 93, 92, 91, 89, 88, 87, 86, 84, 83, 82, 81, 79, 78, 77, 76, 75, 73, 72, 71, 70, 69, 67, 66, 65, 64, 62, 61, 60, 59, 58, 56, 55, 54, 52, 51, 50, 48, 47, 46, 44, 43 };

/* The rotation difference is calculated from the angle.

*

ted from the angle.

*/