[Jefferson]

Thanks for posting that Ether. That's a really handy reference.

I need to point out, though, that this calculator is a different drive method than the Steer class from out 2012 code.

Ether's spreadsheet implements crab drive with the ability to change the orientation of the robot.
The Steer class implements a drive method similar to how a car drives... a car with 4-wheel steering anyway.