Now that you have created the constant variables needed to calculate the amount of ticks per mm moved, you can use this to set a target distance. For instance, if you would like to have the robot move forward two feet, converting from feet to millimeters and multiplying by the `COUNTS_PER_MM`

will give you the amount of counts (or ticks) needed to reach that distance.

Right now the main distance factor is `COUNTS_PER_MM`

, however you may want to go a distance that is in the imperial system, such as 2 feet (or 24 inches). The target distance in this case will need to be converted to mm. To convert from feet to millimeters use the following formula:

If you convert 2 feet to millimeters, it comes out the be 609.6 millimeters. For the purpose of this guide, lets go ahead an round this to be 610 millimeters. Multiply 610 millimeters by the`COUNTS_PER_MM`

variable to get the number of ticks needed to move the robot 2 feet. Since the intent is to have the robot move in a straight line, set both the `leftTarget`

and `rightTarget`

, to be equal to 610 * `COUNTS_PER_MM`

Create two more variables called `leftTarget`

and`rightTarget`

. Add the and blocks to the op mode above the block.

$d_{(mm)} = d_{(ft)} × 304.8$

Edit the so that both motors are set to the appropriate target position. To do this add the and blocks to their respective motor.