Thread: WCD vs. Swerve
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Unread 28-12-2011, 15:35
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Re: WCD vs. Swerve

Quote:
Originally Posted by JamesTerm View Post
Oh and each vector is divided by 4.
Just to be clear: There is a divide-by-4 (which divides all 4 terms) in the original equations I posted:

Quote:
omega = ((sFR*cos(atan2(W,L)+pi/2-aFR)+sFL*cos(atan2(-W,L)+pi/2-aFL)
+sRL*cos(atan2(-W,-L)+pi/2-aRL)+sRR*cos(atan2(W,-L)+pi/2-aRR))/4)/
(sqrt(L^2+W^2)/2);

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