[Chris Hibner]

I hope that the paper is useful for some teams. I've read countless posts on these forums that say, "HELP! Our robot won't turn!" I've responded to most of these posts with some rules-of-thumb, but posting the math is usually too difficult.

I've had these equations scribbled down in various notebooks and loose pieces of paper for quite a while now. I've been wanting to formalize them into a paper, but I guess I've always been too busy to finish it. I'm glad it's finally done.

Good luck to all.

-Chris