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Re: Starting out with Swerve Drive.
Throwing something that one can do with swerve into this tread for visibility:
https://github.com/faust1706/Smooth-Swerve
It's a swerve adaptation of @notincontrol's smooth path planner/trajectory calculator.
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"You're a gentleman," they used to say to him. "You shouldn't have gone murdering people with a hatchet; that's no occupation for a gentleman."
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