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Swerve Programming Spreadsheet
We're planning on making a Robot-Oriented Drive system this year (game willing). In this process it became obvious that programming is a bit tricky, so we made a spreadsheet that takes X,Y,and Rotation values and gives each of the 4 wheel orientations and speeds.
The spreadsheet was made such that you should be able to follow step by step through the calculations and translate it to programming. Enjoy, and pass along any suggestions or questions. -Matt 
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