WCD vs. Swerve

[JamesTerm]

Originally Posted by Ether

That is called the Forward Kinematic Problem, and for swerve it has no kinematic solution for arbitrarily chosen values of the wheel speeds and angles. See the discussion starting at the bottom of Page7 of this paper.

Thanks for this link as well... I am a bit surprised that there are no solution cases. In my mind the robot is going to do something for those cases, and I'd look at this from a physics standpoint... by applying a vectored force to each point and let the opposing forces cancel each other out. Perhaps this is over-simplified, but perhaps it is worth testing a solution like this against the problem presented here, and see how equal they become.