Editing Software Onboarding/Inverse kinematics (section)

=Differential Drive Robot=
A [[differential drive robot]] is capable of moving in two dimensions. The extra dimension slightly increases the complexity of the inverse kinematics problem, but it can be understood by decomposing a movement into three steps.

# Rotate in place so that the robot is pointed towards the destination
# Drive in a straight line to the destination
# Rotate in place again to face the desired final orientation

The second step is identical to the single wheeled robot, albeit we need to make sure we calculate the straight line distance to the destination. The first and third steps require a bit of trigonometry to calculate the necessary rotation, and a bit of geometry to convert the desired rotation to motor speeds.
{{Template:todo|Discussion about the behavior of diff drive robots. Perhaps move this to an earlier section?}}