Calculating the traveled distance

Sparki
#1

hi roboalchemist,

Can you please provide an explanation and a formula for calculating the traveled distance (assuming that the wheels do not slip). This is useful for a sketch I’m working on that uses the API call sparki.moveForward() without specifying explicit distance.

Also - in the Sparki.cpp code there is this function:

void SparkiClass::moveForward(float cm)
{
  float run = 222.222222*cm;
  if( (cm == -1) || (cm == 0) ){
      moveForward();
  }
  else{
      moveForward();
      delay(run);
      moveStop();
  }
}

Can you please explain the calculation and the 222.222222 constant?

Thanks!!

#2

Looks like the code causes Sparki to move forward for 222.222 milliseconds for each centimeter of movement specified in the ‘cm’ variable.