Circumference is the distance around a circle once.
Being able to calculate the circumference of a circle or
wheel is the starting point for programming a robot.

Calculate Circumference using on of these these formulas:
Circumference = 2 X Radius X 3.1416
or
Circumference = Diameter X 3.1316

Two Important Dimensions

Wheel diameter and the distance between the wheels must be
known to accurately program the movement of a robot.
The distance between the wheels is also called axle length.

Wheel Circumference
Circumference is the distance around a wheel. The circumference of the wheels is important because the distance a wheel travels in one rotation is the wheel's circumference.

In a formula this is:

Distance traveled = Wheel-Circumference X Wheel Rotations
or
Distance = Wheel-Cir X Rots

Use these formulas to calculate the rotations needed
by both wheels to go a specific distance.
Also use these formulas to determine the rotations needed
by one wheel to go a specific turn-distance.

Turn Circle Circumference
For two wheels connected by an axle, if one wheel rotates and the other doesn't,
the turning wheel will go in a circle.
This is called the Turn-Circle or T-Circle and is the blue circle shown below.
The distance between the wheels or axle length is the radius of the Turn-Circle.
The circumference of the Turn-Circle can be calculated using the axle length as the radius.

To calculate a turn, the distance the wheel must travel on the turn-circle must be determined.
This can be done by putting the turn-angle and turn-circle-circumference into the formula below.

Calculate Circumference using these formulas:
Circumference = 2 X Radius X 3.1416
or
Circumference = Diameter X 3.1316

Determine the circumference of the wheel.
Wheel Diameter is 5cm
Wheel Circumference =

Determine the Circumference of the Turn circle.
The axle of the robot is 12.5 cm.
T-Circle Circumference =

How many program degrees are required for a robot to turn 137 degrees?
Step 1 - Determine the Turn-Distance.
Step 2 - Use the Turn-Distance to determine the number of rotations needed for the wheel to go this distance.
Step 3 - Multiple the rotations by 360 if you want to program in degrees instead of rotations.

How many program degrees are required for a robot to turn 274 degree?

Circumference is the distance around a circle once.

Being able to calculate the circumference of a circle or

wheel is the starting point for programming a robot.

Calculate Circumferenceusing on of these these formulas:Circumference = 2 X Radius X 3.1416

or

Circumference = Diameter X 3.1316

Two Important DimensionsWheel diameter and the distance between the wheels must be

known to accurately program the movement of a robot.

The distance between the wheels is also called axle length.

Wheel CircumferenceCircumference is the distance around a wheel.

The circumference of the wheels is important because

the distance a wheel travels in one rotation is the wheel's circumference.

In a formula this is:

Distance traveled = Wheel-Circumference X Wheel Rotations

or

Distance = Wheel-Cir X Rots

Use these formulas to calculate the rotations needed

by both wheels to go a specific distance.

Also use these formulas to determine the rotations needed

by one wheel to go a specific turn-distance.

Video and Presentation on How to Calculate Going a Distance

Swing Turn

The outside wheel travels on a circle during a swing turn.

(Video At this link: http://www.education.rec.ri.cmu.edu/content/electronics/boe/robot_motion/images/making%20swing%20turns.webm )

Turn Circle CircumferenceFor two wheels connected by an axle, if one wheel rotates and the other doesn't,

the turning wheel will go in a circle.

This is called the Turn-Circle or T-Circle and is the blue circle shown below.

The distance between the wheels or axle length is the radius of the Turn-Circle.

The circumference of the Turn-Circle can be calculated using the axle length as the radius.

To calculate a turn, the distance the wheel must travel on the turn-circle must be determined.

This can be done by putting the turn-angle and turn-circle-circumference into the formula below.

Turn AngleTurn-DistanceVideo and presentation Explanation of Turning

Video and presentation Explanation of How to Calculate a Turn

This link has another short explanation.

Calculate Circumference using these formulas:

Circumference = 2 X Radius X 3.1416

or

Circumference = Diameter X 3.1316

Determine the circumference of the wheel.

Wheel Diameter is 5cm

Wheel Circumference =

Determine the Circumference of the Turn circle.

The axle of the robot is 12.5 cm.

T-Circle Circumference =

How many program degrees are required for a robot to turn 137 degrees?

Step 1 - Determine the Turn-Distance.

Step 2 - Use the Turn-Distance to determine the number of rotations needed for the wheel to go this distance.

Step 3 - Multiple the rotations by 360 if you want to program in degrees instead of rotations.

How many program degrees are required for a robot to turn 274 degree?

More problems and practice.