pic: OmniSwerve chassis Bottom View and Concept Discussion

[asid61]

Originally Posted by GeeTwo

The velocity vectors can add up so that the speed of the robot is greater than the speed that any individual wheel is driven. The issue is that with the number of rollers providing resistance to this motion, I find it unlikely that those two motors could achieve a significantly greater speed than one in which all three motors are providing drive force in the desired direction. The only way to know for sure is to build it.

Well, if you take the two non-pointing-in-the-right-direction motors and give them each an angle theta away from the main wheel...
If you assume velocity vectors add, then the output speed is (cos(theta)+1)*v0, right? If that's the case, as theta goes to 0* (AKA point all whee;s in the same direction) one would end up with just 2 times the target speed- but all the wheels are just pointing in the same direction like a tank drive. That doesn't make sense to me, is there another way to add it?