NEX ROBOTICS FIREBIRD V ATMEGA 2560 Hardware Manual page 39

Case 3: Robot is turning with one wheel stationary while other wheel is rotating clockwise
or anti clockwise. Center of rotation is center of the stationary wheel (encoder resolution is
in degrees)
In this case only one wheel is rotating and other wheel is stationary so robot will complete its
0
360 rotation with stationary wheel as its center.
Radius of Circle formed in 360
Distance Covered by Robot in 360
Number of wheel rotations of in 360
Total pulses in 360 0 Rotation of Robot
= Number of slots on the encoder disc / Number of wheel rotations of in 360
= 30 x 5.882
= 176.46 (approximately 176)
Position Encoder Resolution in Degrees = 360 /176
© NEX Robotics Pvt. Ltd. and ERTS Lab, CSE, IIT Bombay, INDIA
0 rotation of Robot = Distance between Wheels
= 15 cm
0 Rotation = Circumference of Circle traced
= 2 x 15 x 3.14
= 94.20 cm or 942 mm
0 rotation of robot
= Circumference of Traced Circle / Circumference of Wheel
= 942 / 160.14
= 5.882
= 2.045 degrees per count
Fire Bird V ATMEGA2560 Hardware Manual
0 rotation of robot
39