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Re: Confusing Issues with Swerve
I went back and looked more closely at the calculation of the arguments to setModule() in swerveDrive(). The calculation of A B C and D seem to be the cartesian components of the desired motion at the center of each module. In all four cases, B is a component of the front wheels, and A of the rear. However, C and D seem to jump places, with C going to the right speeds and the left angles, and D going to the left speeds and right angles. I don't quite see how this would cause your observed problem, but it doesn't seem right.
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