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Re: Swerve path and motor trajectory generator?
I think you could benefit greatly from Ether's swerve kinematics and programming documents. Look for the excel spreadsheet. All you need to give is a Joystick Y(up/down), X(left/right strafe), Z (Rotation) and Gyro Angle and it visualizes the angle and speed of 4 swerve wheels.
There is also a paper on how to write these algorithms into the programming language of your choice.
Hope this helps.
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