rover/robot.py
def approxTurningRadius(self,enc):
		'''
		Takes the list of current corner angles and approximates the current turning radius [inches]

		:param list [int] enc: List of encoder ticks for each corner motor

		'''
		if enc[0] == None:
			return 250
		try:
			if enc[0] > 0:
				r1 = (self.d1/math.tan(math.radians(abs(enc[0])))) + self.d3
				r2 = (self.d2/math.tan(math.radians(abs(enc[1])))) + self.d3
				r3 = (self.d2/math.tan(math.radians(abs(enc[2])))) - self.d3
				r4 = (self.d1/math.tan(math.radians(abs(enc[3])))) - self.d3
			else:
				r1 = -(self.d1/math.tan(math.radians(abs(enc[0])))) - self.d3
				r2 = -(self.d2/math.tan(math.radians(abs(enc[1])))) - self.d3
				r3 = -(self.d2/math.tan(math.radians(abs(enc[2])))) + self.d3
				r4 = -(self.d1/math.tan(math.radians(abs(enc[3])))) + self.d3
			radius = (r1 + r2 + r3 + r4)/4
			return radius
		except:
			return 250

		Takes the list of current corner angles and approximates the current turning radius [inches]

		:param list [int] enc: List of encoder ticks for each corner motor

		
Takes the list of current corner angles and approximates the current turning radius [inches]
:param list [int] enc: List of encoder ticks for each corner motor
Takes the list of current corner angles and approximates the current turning radius [ inches ] : param list [ int ] enc : List of encoder ticks for each corner motor
def approxTurningRadius(self,enc):
		if enc[0] == None:
			return 250
		try:
			if enc[0] > 0:
				r1 = (self.d1/math.tan(math.radians(abs(enc[0])))) + self.d3
				r2 = (self.d2/math.tan(math.radians(abs(enc[1])))) + self.d3
				r3 = (self.d2/math.tan(math.radians(abs(enc[2])))) - self.d3
				r4 = (self.d1/math.tan(math.radians(abs(enc[3])))) - self.d3
			else:
				r1 = -(self.d1/math.tan(math.radians(abs(enc[0])))) - self.d3
				r2 = -(self.d2/math.tan(math.radians(abs(enc[1])))) - self.d3
				r3 = -(self.d2/math.tan(math.radians(abs(enc[2])))) + self.d3
				r4 = -(self.d1/math.tan(math.radians(abs(enc[3])))) + self.d3
			radius = (r1 + r2 + r3 + r4)/4
			return radius
		except:
			return 250
def approxTurningRadius ( self , enc ) : if enc [ 0 ] == None : return 250 try : if enc [ 0 ] > 0 : r1 = ( self . d1 / math . tan ( math . radians ( abs ( enc [ 0 ] ) ) ) ) + self . d3 r2 = ( self . d2 / math . tan ( math . radians ( abs ( enc [ 1 ] ) ) ) ) + self . d3 r3 = ( self . d2 / math . tan ( math . radians ( abs ( enc [ 2 ] ) ) ) ) - self . d3 r4 = ( self . d1 / math . tan ( math . radians ( abs ( enc [ 3 ] ) ) ) ) - self . d3 else : r1 = - ( self . d1 / math . tan ( math . radians ( abs ( enc [ 0 ] ) ) ) ) - self . d3 r2 = - ( self . d2 / math . tan ( math . radians ( abs ( enc [ 1 ] ) ) ) ) - self . d3 r3 = - ( self . d2 / math . tan ( math . radians ( abs ( enc [ 2 ] ) ) ) ) + self . d3 r4 = - ( self . d1 / math . tan ( math . radians ( abs ( enc [ 3 ] ) ) ) ) + self . d3 radius = ( r1 + r2 + r3 + r4 ) / 4 return radius except : return 250
Takes the list of current corner angles and approximates the current turning radius [inches]
:param list [int] enc: List of encoder ticks for each corner motor
Takes the list of current corner angles and approximates the current turning radius [ inches ] : param list [ int ] enc : List of encoder ticks for each corner motor
'''
		Takes the list of current corner angles and approximates the current turning radius [inches]

		:param list [int] enc: List of encoder ticks for each corner motor

		'''
self
enc