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1 | initial version |

The robot wheel turns around once in about 8 seconds (6.283, actually), because the value assigned as velocity is angular velocity

omega = 2 * pi * f

that means the time it takes to turn the wheel all the way around

t = 1/f

is

t = ( 2 * pi ) / omega = 2 * 3.1415 / 1 = 6.283 s

and you need to assign the velocity of 6.283 to achieve 1 rotation per second

omega = 2 * pi * f = 2 * 3.1415 * 1 = 6.283

2 | No.2 Revision |

The robot wheel turns around once in about 8 seconds (6.283, actually), because the value assigned as velocity is angular velocity

omega = 2 * pi * f

that means the time it takes to turn the wheel all the way around

t = 1/f

is

t = ( 2 * pi ) / omega = 2 * 3.1415 / 1 = 6.283 s

and you need to assign the velocity of 6.283 to achieve 1 rotation per second

omega = 2 * pi * f = 2 * 3.1415 * 1 = 6.283

To get the desired linear velocity you divide the desired linear velocity with the radius of the wheel in meters.

v = 2 * pi * f * r = omega * r

omega = v / r

3 | No.3 Revision |

The robot wheel turns around once in about 8 seconds (6.283, actually), because the value assigned as velocity is angular velocity

`omega`

`omega = 2 * pi * f`

that means the time `t`

it takes to turn the wheel all the way around

`t = 1/f`

is

`t = ( 2 * pi ) / omega = 2 * 3.1415 / 1 = 6.283 s`

and you need to assign the velocity `omega`

of 6.283 to achieve 1 rotation per second

`omega = 2 * pi * f = 2 * 3.1415 * 1 = 6.283`

To get the desired linear velocity `v`

you divide the desired linear velocity `v`

with the radius `r`

of the wheel in meters.

`v = 2 * pi * f * r = omega * r`

` `

`omega = v / r`

` `

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