I believe that Ether has posted a whitepaper that goes through the math and pseudocode for a true swerve drive. It's sounding that that's really what you want.
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I greatly appreciate your answer in the other one and i'll take it down now to prevent confusion
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Would you mind re-posting the answer, for posterity's sake? If it's a greatly appreciated answer, chances are that someone else would also be able to greatly appreciate it.
