Open the Motors model from the examples directory that came with the ZumoBot library. To start off, use the default values in the model for velocity 'v' (20 cm/s) and angle of turn 'omega' (0.1 rad/s).
To build and download the model on the ZumoBot, click on the Deploy on hardware button in the right top corner of the model.
In this case, the radius of curvature is quite large, and for short distances, the Zumo Robot almost appears to move in a straight line.
In this situation the radius of curvature is comparatively smaller, and the Zumo Robot appears to constantly make a sharp turn.