pic: OmniSwerve chassis Bottom View and Concept Discussion

[asid61]

Originally Posted by Hitchhiker 42

With the max speed thing, here was the way I though you could possibly do it:

Have one wheel face one way, another face 90* from it, and the third point right in between. If you power the two at 90* to each other, you'd get sqrt(2) the speed.

The velocity vectors don't add like that I think. You would get sqrt(2) + 1 times the torque of the single cim pointing in the right direction, but the max speed is still only the speed of that cim.