Two+Turns

In a Swing Turn, One wheel does not move. The other wheel drives around the planted wheel. The moving wheel rolls in a circle around the planted wheel. This moving wheel could go round and round the planted wheel. The moving wheel is on the outside of the turn making a circle. This circle is the Traced or Turning Circle. The wheel rolls on the circumference of the T-Circle. If the wheel rolls for just part of the T-Circle, it makes a turn that is less than 360 degrees.

Solve these problems with three steps for a swing turn. First, find the distance the wheel needs to roll. This will be part of the T-Circle-Circumference. Second, Find the rotations the wheel needs to make.
 * __Turn Angle__ || = || __Distance wheel needs to roll__ ||  ||   ||   ||   ||   ||   ||
 * 360 ||  || T-Circle-Circumference ||   ||   ||   ||   ||   ||   ||

Distance = (Wheel Circumference)(Rotations)

Third, Change rotations to program degrees.
 * (Rotation) || x || __360 degrees__ || = ||  ||   ||   ||   ||   ||
 * ||  || 1 Rotation ||   ||   ||   ||   ||   ||   ||

Wheel diameter is 3.8cm. 3.8cm(3.14)= 11.93cm T-Circle diameter is 45cm. 45cm(3.14)=141.37

The turn is 72 degrees. What distance does the wheel need to turn?
 * __72degrees__ || = ||  || __Distance__ ||   ||   ||   ||   ||   ||
 * 360degrees ||  ||   || 141.37cm ||   ||   ||   ||   ||   ||

28.37cm = Distance
 * 0.2000 || (141.37cm) || = || __Distance__ || (141.37cm) ||  ||   ||   ||   ||
 * ||  ||   || 141.37cm ||   ||   ||   ||   ||   ||

How many rotations for this 72 degree turn? 28.37cm = (11.93cm)(Rotations)

2.378 = Rotations
 * __28.37cm__ || = || __11.93cm__ || (Rotations) ||  ||   ||   ||   ||   ||
 * 11.93cm ||  || 11.93cm ||   ||   ||   ||   ||   ||   ||

How many program degrees are required to turn 72 degrees? --- New Robot - wheel Diameter - 6.8cm (6.8cm)(3.14)= 21.35cm T-Circle Diameter - 38cm (38cm)(3.14)=119.32cm Program Degrees to turn the robot 32 degrees?
 * 2.378 Rotations || x || __360 degrees__ || = || 856.1 ||  ||   ||   ||   ||
 * ||  || 1 Rotation ||   ||   ||   ||   ||   ||   ||
 * __32 degrees__ || = || __Distance X__ ||  ||   ||   ||   ||   ||   ||
 * 360 degrees ||  || 119.32cm ||   ||   ||   ||   ||   ||   ||

10.61cm = distance
 * (0.0889) || (119.32cm) || = || Distance X || (119.32cm) ||  ||   ||   ||   ||
 * ||  ||   || 119.32cm ||   ||   ||   ||   ||   ||

10.61cm = 21.35cm(Rotations)

0.497 = Rotations
 * __10.61cm__ || = || __21.35cm__ || (Rotations) ||  ||   ||   ||   ||   ||
 * 21.35cm ||  || 21.35cm ||   ||   ||   ||   ||   ||   ||

0.497 Rotations(360 degrees/1Rotation) = 178.9 program degrees