* **This block works for Ruby Robot!*

The Set Wheel Speed block sets a target speed for the robot's two wheels. It differs from the Set Motor Power block in that it performs a constant closed-loop control system behind the scenes, maintaining a steady speed for the robot's wheels by applying the right motor power in order to reach and maintain the target speed applied.

Each wheel's speed can be set individually.

**Driving Straight**

In order to drive the robot in a straight line, both motors must turn at the same power and in the same direction:

Positive values will turn the motor forward, while negative values will turn the motor backward.

**Turning**

In order to turn, apply different values to wheels.

Here are some examples:

Different values of the same sign (positive or negative) will result in a **smooth turn** in the direction of the lower value:

Values of the same number but the opposite sign (positive and negative) will result in a **screw turn** (sometimes also called a point turn, or a turn on the spot) in the direction of the motor turning backward.

A 0 value in one of the motors will result in a **pivot turn**, where the robot spins on the axle of the wheel who's motor is at 0 power:

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