[Ether]

Originally Posted by cstelter

The above didn't help me as I'm not able to visualize inward outward

I don't care for that nomenclature either; I was using it because that's the way the questioner (3786KRRobotics) worded it.

I hope the following is clearer for you:

vehicle forward:

- both left wheels rotating CCW (when viewed from left side of vehicle)

- both right wheels rotating CW (when viewed from right side of vehicle)


vehicle strafe right:

- front wheels turning CCW (when viewed from their respective sides)

- back wheels turning CW (when viewed from their respective sides)


vehicle rotate CW (as viewed from above):

- all 4 wheels rotating CCW (when viewed from their respective sides

Vehicle backward, strafe left, and rotate CCW: each wheel turning the opposite direction of the forward, strafe right, and rotate CW cases, respectively.