3-Wheel Base Dance

This autonomous program makes the robot follow a simple sequence of moves to drive in a T-shaped pattern and end up back where it started. A Drivetrain is used without gyro control, so the dimentions of robot are specfied in the Drivetrain device to allow the robot to estimate turns in degrees. Note that since there are only two drive wheels, the wheelbase is effectively 0 (zero), since the turning pivot point is right between the two front drive wheels. Without gryo control, the turns are not very accurate on surfaces with poor traction such as carpet, due to wheel slip. You can compare this program to the "Dance Gyro" version which uses the gyro.