[Tytus Gerrish]

the wheels can be wherever you want. you just have to make your programing utilize the wheel geometry properly for example a 3-wheel arranged in an isosceles triangle the total power of all the motors would be 2-thirds so if it were going sideways. one wheel would be at 100% and the other two would be at 50%

the speed of the wheels is always the parallel distance from the centerline of the velocity of the robot i will draw a diagram later that would make it easier to understand.