Differential Drive Odometry: Heading Change and an x/y Step Table
This lesson is part of the course
In this lesson
You turn eight steps of left and right wheel distances into heading changes and track where Pip thinks it is with a COS/SIN step table that starts from a known pose.
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Lessons in this course
- Encoders: Ticks per Revolution, Distance per Tick & Wheel Speed Locked
- Differential Drive Odometry: Heading Change and an x/y Step Table Locked
- Drift: How a Small Wheel-Size Error Bends a Square Path Locked
- Two-Link Arm: Joint Angles to Elbow and Tool Position Locked
- Reaching a Point: Reachable-Area Check, Grid Search & the Nearest Solution Locked
- Motors & Gearing: Gear Ratio, Wheel Speed, Torque & the Ramp Test Locked
- PID Control: Error, Integral, Derivative & the Output Step by Step Locked
- Tuning Comparison & Battery Runtime: Three Gain Sets, Current Draw & a Chart Locked