Accommodating the left wheel

• Equation for right wheel:

• Right Servo Output = (Right zone set point – measured right zone) x 35 +750

• Sample: RSO = (2-4)*35+750 = 680

• Equation for left wheel

• Left Servo Output = (Left Zone Set point – measured left zone) x -35 + 750

• Sample: LSO = (2-4)*-35+750 = 820

• NOW BOTH WHEELS WILL ROLL FORWARDAT THE SAME SPEED MAKING THE BOE BOT GO STRAIGHT…ASSUMING THE OBJECT IS RIGHT IN FRONT