EV3 Phi. Recap on turns. Spin, pivot, arc Pro Preview

To recap. By now you have all the tools you need to know, the knowledge to do a spin turn, an arc turn, a pivot turn with the robot. You can even program this service robot to go to another room and to try to bring something for us from this other room.

There are some common things for all of the turns and as a recap of this module let's discuss these common things. You can think of all turns as circles. What's the difference between the different types of turns is where is the center of this circle? For example, when you do a spin turn

the axle around which you are rotating is right here between the two wheels. It is not here in the center of the brick, it is not here, it is right here between the two motors and between the axles of these two motors. If I just place this here and start turning,

so we have in the spin turn the center of the circle right here between the two motors. When we do a pivot turn, let me just find the program for a pivot turn.

The center of turning when you have a pivot turn is right here on the wheel that has stopped. So, when you rotate this is the center of the circle. This here and this is the axle around which you rotate. And for an arc turn if we have an arc turn,

where is the center? Again.

You can see that the center around which the robot rotates is somewhere around here.

Three different types of turns: arc, pivot and spin with three different places on which the center is. Now a question from us: If you move forward, where is the center of rotating? You can think of moving forward as an arc but an arc that's infinitely long. And when you have this type of moving forward moving in an arc that's infinitely long and that's a straight line where is the center of rotation?