Re: potential future white paper: swerve drive implementation
 

wheel slippage, gyro drift, collisions and wheels that aren't centered in the modules can all contribute to changes orientation.

for more information, I would suggest starting a new thread for this specific topic

Re: potential future white paper: swerve drive implementation
 

You could let it happen, and provide a way to manually correct for it. Many things can cause you to turn, but if you can fix that, you will be good (plus, it might be handy to be able to line up by turning a little bit)

Re: potential future white paper: swerve drive implementation
 

Just an update, I haven't forgotten about this, but since the inverse AND forward kinematics of swerve drive have already been posted in these papers in great detail, I plan on changing the topic of the paper to autonomous path planning with interdependently steered and driven wheels. I hope to get this up before kickoff by working on it in my free time, but lately I haven't had much.

Feedback or suggestions would be appreciated.