GEOMETRY → MOTION → CONTROL
Know the motion
before the motor.
Explore differential-drive geometry and bounded heading control, using dimensions recorded in the 7110A competition code.
Wheel diameter, wheel-to-motor ratio, track width.
Source-backed
geometry. Explicitly assumed dynamics.
02 / TRAJECTORY
Follow the pose.
Equal horizontal and vertical scale. +x starts forward; positive angles rotate counterclockwise. The arrow shows heading; the rectangle is a schematic robot footprint.
03 / RESPONSE
Wheel commands over time
Geometry is grounded in the archive.
The original code records a 3.25-inch wheel, 36/48 gear ratio and 11.5-inch track. The lab preserves its distance-to-motor-angle conversion. Each simulated pose step integrates constant left/right wheel travel along an exact circular arc.
The controller is an educational model.
Initial gains match the original smartTurn values. The lab adds output saturation, conditional integral accumulation, derivative on measured heading, a timeout and a sustained settling condition. Motor response and side effectiveness are explicit assumptions. This is not a calibrated digital model of the robot.
The competition code remains an archive.
The repository contains team contributions, including KDalela and the original author headers. The lab does not modify or flash that firmware. Source-review notes document ignored time units, negative-distance termination and unbounded collision waits for a future hardware-tested revision.
Read the concrete source findings ↗