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 Come on, guys, it's two weeks 'til build. Personally, I'm gonna go outside for a little before I forget what my neighborhood looks like in the daylight. :) - Libby K [more] |
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Re: Confusing Issues with Swerve
An easy way to test your swerve inverse kinematics code to confirm that it is doing the computations correctly is to feed it several [fwd,str,rcw] triplets and compare the resulting wheel speeds and angles to the values computed by this swerve calculator spreadsheet. 
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