calculate robot-centric and field-centric wheel speeds and wheel steering angles for a vehicle with four-wheel independent drive and independent steering ("swerve" drive)
Describes the 'SimSwerve' omnidirectional drive system used by Simbotics (Team 1114) in 2004. It includes an overview of the theory behind omnidirectional drive (with pseudocode), a description of various possible designs, and a detailed description of the design used. See the discussion thread fo...
Our job is to play the game that the GDC gave us, not the one we think they should have given us. - Herodotus [more] 
