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Winning Design!: LEGO MINDSTORMS NXT Design Patterns for Fun and Competition by James J. Trobaugh

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Chapter 3. Going Straight

Once you've built your robot, you're going to want it to go somewhere, and everyone knows the shortest distance between two places is a straight line. In the world of LEGO robots, going straight is one of those things that is easier said than done. Many new teams in FLL will rely on odometry, or dead reckoning, to get their robot to the desired location on the game field. Odometry is when you use measurements as a way to navigate your robot a point on the field. You're simply telling the robot to go a predefined distance and using the rotation sensors built into your robots NXT servo to determine if you've gone the desired distance. The position will be estimated relative to your starting point. As you will find out, ...

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