[Djur]

Originally Posted by Ether

"y" is the forward command

"x" is the strafe right command

"z" is the rotate clockwise command


Step1:

Compute the 4 wheel speeds:

FL = y + x + z

FR = y - x - z

RL = y - x + z

RR = y + x - z


Step2:

Find the max absolute value of the above four commands, 
and if it is greater than 1, 
divide all four commands by that max absolute value.

That's very interesting, although I see no point at which a robot would need to do that except for showing off.