How to take turns with 4wd1 rover ( need logic)

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1

hi,

i am working on 4wd1 rover. i want to turn the rover 90 degrees left and right. i am not using any kind of extra hardware like encoder and etc..,

my logic to turn right

[code]
LSpeed = 1450
RSpeed = 1650
turn
a var word
a = 0
while a < 120 // number of loops for rotating rover
gosub run
a=a+1
wend
return

run
; Send out the servo pulses
pulsout 0,(LSpeed2) ; Left Sabertooth channel.
pulsout 1,(RSpeed2) ; Right Sabertooth channel.
pause 20
return[/code]

Every time i run this code, it behaves differently, some time it is taking more and less than 90 degrees.

Could you please help me out.
Anything idea , code or proper command is helpful.

thanks.

2

I’m not well versed in this language but the code is pretty straightforward and it looks like it would work alright (I assume your not trying to turn the bot in place). One possibility is that the wheels are slipping.

Dustin