[siggy2xc]

If you could fix up the code I think that would help tremendously. Also would you mind describing what is happening in the relative movement vi? I really appreciate this, I feel like I'm really good at programming hardware in intuitive ways but terrible at creating virtual simulations of what it should do.

But yes I understand sin, cosine, and tangent. But not well enough to fully figure out the swerve drive quite yet (That can wait for awhile since we don't even have a swerve drive built yet).