Wheel
Wheels have an essential and critical role when it comes to competition. When you going to select a wheel you must check there parameter
- Wheel diameter
- Wheel width/span
- Not to much friction between wheel and surface
- Not too less friction between wheel and surface
Diameter
It finally gives you speed. Suppose your wheel has d mm diameter, your motor has r rpm and you are running your motor in p % of power. (for full speed it will 100 % of power)
Circumference of wheel = Lenght travelled in one rotation = π * d mm
Actual rpm = (r * p )/100 rpm = r * p * 0.01 rpm
No of revolution in one second (rps) = r * p * 0.01/60 rps
Thus the speed of your bot will be = π * d * rps mm/s
Now sensing power comes into play. It is very important that your sensor is compatible with this much speed suppose your sensor can takes reading every t second. (generally for IR sensor it is 0.01 sec).
i.e. at t second, you will travel π * d * rps * t mm (say L mm). This means you can only take reading at every L mm distance. If your wheel size to big you may skip the track and your wheel is too small you will finish track at last.
