After using the OD/ID search many times, I was wondering how it actually does calculate the offsets? Especially with two search directions being on the same direction (i.e. X) then the other in Y. What kind of math is it doing to calculate the offsets? I'm asking this because I actually want to apply this principle on another robot platform to calculate circle offsets using it's basic search commands and applying necessary math instructions to calculate it.
Any feedback or thoughts is appreciated.