Odometry Data

Twitchy thinks that each time she goes 2 meters and turns 90 degrees. However each time she fails to make a perfect square. Click here to download her internal positions for each run.
Leg 1 Angle Leg 2 Angle Leg 3 Angle Leg 4
Trial 1 78 9/16 87.5 78 7/8 89 75 3/4 88.5 76 11/16
Trial 2 78 1/2 84 78 3/16 90 77 88 76 1/4
Trial 3 78 1/8 91 78 13/16 85.5 76 1/2 88 76 5/16
Trial 4 79 87 78 3/4 86.5 75 9/16 86.5 75 13/16
Trial 5 78 5/8 89 78 5/8 90 75 3/4 91.5 75 11/16
Trial 6 79 86 78 7/8 90.5 75 3/8 90 77 1/8
Trial 7 79 5/8 89 79 1/8 90 75 1/8 92 76 5/8
Trial 8 79 88 79 87 76 92 76 3/8
Trial 9 78 5/8 89 78 7/8 90 75 1/4 89 77
Trial 10 78 7/16 92 79 1/4 89 75 3/16 89 76 1/16

We would prefer these variances to be 0 ± epsilon.
-1.32 ± 1.5 inches
-3.3 ± 3.7 cm 		-1.2 ± 2 degrees


Overall we have about a 4% error in where Twitchy is and where she thinks she is.