Autonomy

Vertical wheel offset: how far left (negative) or right (positive) of the tracking center it is.
Horizontal wheel offset: how far behind (negative) or in front (positive) of the tracking center it is.

Reading voice

Voice★ = sounds more natural Speed Robot celebration sounds

Want a much better voice? (for a grown-up, about 5 minutes)

On a Mac:

Open System Settings.
Click Accessibility, then Spoken Content.
Next to System Voice, click the ⓘ button (or Manage Voices).
Open English and download a Premium voice, like Ava (Premium), Zoe (Premium) or Evan (Enhanced).
Come back here, click Find new voices, and pick it. If it doesn't show up, quit and reopen the browser.

On Windows: open Settings → Time & language → Speech, click Add voices and add a natural English voice. Then click Find new voices here.

Using Chrome? Google US English also sounds natural and needs no download. On iPhone and iPad, better voices are in Settings → Accessibility → Spoken Content → Voices.