Holonomic Drive System Issues, Robot Drives Diagonally...

[Ether]

Originally Posted by Andrew Schuetze

What would it take to program such a spin around either the front right or front left wheel

The math is not that hard. See attached image.

Calculate how fast you want to rotate. Call that omega. That's your rotation command. Multiply omega by |AC|. That's your translation magnitude. Theta is your translation direction angle. Translation velocity vector V is perpendicular to |AC|.