Dmitri Soshnikov shwars
shwars
/ transporter.fs
Last active
August 29, 2015 14:10
— forked from kashmervil/transporter.fs
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| open System | |
| let L = 14. // Space between wheels || Your values might be quite different | |
| let R = 2.7 // Wheel's radius || | |
| let ticksPerRotation = 12000. // ~ amount of ticks is taken by one full rotation | |
| let desiredAngle = int ((L/R/4.) * ticksPerRotation) // Math routine to calculate how many ticks is taken to turn | |
| type Direction = Forward | Backward | Left | Right | |
| // <Twitter boilerplate part> |