# Revision history [back]

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

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

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