Quote:
Originally Posted by brennonbrimhall
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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Here are links to the documents:
Derivation of the equations:
http://www.chiefdelphi.com/media/papers/download/3027
How to use the equations:
http://www.chiefdelphi.com/media/papers/download/3028
Excel spreadsheet swerve calculator:
http://www.chiefdelphi.com/media/papers/download/3104
Miscellaneous additional documents:
http://www.chiefdelphi.com/media/papers/2426