[Ether]

Originally Posted by jman4747

So I wanted to do the math in this paper/spreadsheet: http://www.chiefdelphi.com/media/papers/2426 in LabVIEW but some of the output values don't match up to the spreadsheet, and only when I try to add in a non-zero clockwise rotation input. I based the calculations on the paper: http://www.chiefdelphi.com/media/papers/download/3028.

You clipped your wheel speeds instead of normalizing them.

Clipping the wheel speeds makes them no longer kinematically correct.

See the discussion of normalization on page 2 of this doc.