Quote:
Originally Posted by CalTran
Wouldn't this be functionally the same as Killough, just a different geometry for the wheelbase?
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Depends on what exactly you mean by "functionally the same".
The inverse kinematics would be entirely different.
To go forward you would power only 2 wheels (with possible small corrections to the other 2 wheels to track straight).
To strafe you would power only 2 wheels.
Also when going true forward or true strafe, angular wheel speed times wheel radius would translate directly to forward (or strafe) vehicle speed with GeeTwo's "Killough variant". Not so with "standard" Killough with angled wheels.