[Ether]

Originally Posted by cad321

One other question is do both left wheels have to be collinear with each other, or can they be spaced apart so long as they are parallel.

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or must they be like this:

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The inverse kinematic computations in WPILib and LabVIEW expect the wheels to be colinear on both sides. A small non-colinearity would likely still work, but wouldn't be ideal.