
Diameter of
NXT Wheel 
Distance
between Wheels 
C = 3.14 * D 
C = 3.14 * 56 mm 
D  = R C 
Deg = R x 360 
(Diameter of Mindstorms Robot Tire = 56 millimeters) Circumference = 3.14 * __________________ (Diameter) Circumference = _________________________ Distance / Circumference = Rotations __________ / ____________ = _____________ Degrees = Rotations * 360 _______ = _________ * 360 Degrees = __________ 
(Diameter of Mindstorms Robot
Tire = 56 millimeters) Circumference of Tire = 3.14 * __________________ (Diameter) Circumference of Tire = _________________________ 90 Degree Swing Turn = 1/4 of Circle Created by robot swinging around on tire. Diameter of Robot Circle = Distance Between Wheels * 2 Circumference of Robot Circle = 3.14 * Distance Between Robot Wheels * 2 _______________________ = 3.14 * _________________________ * 2 Circumference of Robot Circle / 4 = Distance Wheel needs to travel. ________________________ / 4 = Distance Wheel needs to travel. _________________________ = Distance Wheel needs to travel Distance Wheel needs to travel / Diameter of Wheel = Rotations _________________________ / ________________ = Rotations Rotations = ___________________ Rotations * 360 = Degrees __________ * ___________ = ____________ Degrees = ______________ 
(Diameter of Mindstorms Robot
Tire = 56 millimeters) Circumference of Tire = 3.14 * __________________ (Diameter) Circumference of Tire = _________________________ 90 Degree Swing Turn = 1/4 of Circle Created by robot turning both wheels in opposite directions. Diameter of Robot Circle = Distance Between Wheels Circumference of Robot Circle = 3.14 * Distance Between Robot Wheels _______________________ = 3.14 * _________________________ Circumference of Robot Circle / 4 = Distance Wheel needs to travel. ________________________ / 4 = Distance Wheel needs to travel. _________________________ = Distance Wheel needs to travel Distance Wheel needs to travel / Diameter of Wheel = Rotations _________________________ / ________________ = Rotations Rotations = ___________________ Rotations * 360 = Degrees __________ * ___________ = ____________ Degrees = ______________ (Both wheels need to turn these degrees in opposite directions.) 