Reversing the Kiwi-Drive formula
Posted on 2011-02-25
We've recently build a kiwidrive robot, and now we want to use it as a musical instrument.
It has three wheels, each with a motor that produces a distinct tone.
The formulas used to calculate motor speeds are as follows:
M1 = 0.5 * X - 0.866 * Y + R
M2 = 0.5 * X + 0.866 * Y + R
M3 = X + R
Since we are no good at math, we need help reversing these formulas so that for a given M1, M2 and M3, we want to calculate X, Y and R.