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Originally Posted by Redneck
Thank you, thank you, thank you! This'll be perfect for introducing our new programmers to mecanum drive code.
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Please use the link to the most recent revision. It's located
here, at the very bottom of the list.
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Not much detail about the math behind it, but that'll be easy to explain with this as a nice reference for the end result.
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If you want "detailed math" for teaching purposes, there's a detailed kinematic analysis and force analysis at the same link. They're the first and third papers from the top of the list.