Control a Pololu robot

The Pololu robot has a mechanical encoder attached to each wheel. Each encoder produces 45 electronic pulses for each revolution of the wheel. The program will use the wheel pulse counts to calculate the position and heading (direction) of the robot. The program is a C++ program that runs on the Pololu robot. The program gets the wheel pulse counts on the robot and calculates the resulting robot position and heading. Each calculated position is transmitted by the Wixel wireless module to the PC, to be displayed on the PC screen. Program Calculations Use the following formulas to calculate the change in robot position and then the new position, based on the physical dimensions of the robot and the number of pulses from each wheel since the previous position calculation.