What determines whether a turn is a swing turn or a point turn?

The classification of a turn as a swing turn or a point turn is primarily determined by how each motor is functioning during the maneuver. In a swing turn, one side of the robot operates at a different speed or direction compared to the other, allowing the robot to pivot around its center. A point turn, on the other hand, involves the robot rotating around a central point, often with two motors rotating in opposite directions, allowing the robot to turn in place without moving either forward or backward.

The function of each motor is crucial in this aspect, as it defines the robot's movement pattern during the turn. For instance, if one motor is moving forward while the other is either stationary or moving in reverse, this creates a swing turn. Conversely, if both motors are turning in opposite directions at similar speeds, this yields a point turn.

Factors such as the direction of motor rotation and motor speeds affect the overall dynamics of the turn but do not independently determine the type of turn being executed. Similarly, the type of robot may influence the design and capabilities, but it is the operational function of the motors that directly determines whether the turn is executed as a swing or point turn.