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Re: paper: Bomb Squad Swerve Steering Code
Here is a swerve calculator (Excel spreadsheet) you can use to test your code. It shows (both graphically and numerically) what each wheel angle and speed should be for any given vehicle-desired-motion vector [FWD,STR,RCW]. Just enter the vehicle forward/reverse command, strafe right/left command, and rotate clockwise/counterclockwise command into cells A6, A7, and A8, respectively. |
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