Thymio sensor position

In the previous exercise we defined a reference system (A ) for the robot, and defined the wheel position and its outline. Now we are going to add the positions for the sensors. The Thymio robot has a total of 9 optical proximity sensors:
  • 2 ground optical sensors
  • 5 horizontal forward proximity sensors
  • 2 horzontal backward proximity sensors
The center of the circular arc does not lie on the pen hole. Try to find where it is. You can use a perpendicular bisector on points to find it.