A look at what maneuvers (e.g. strafe, turn in place, Ackermann steering, etc.) are possible for most of the possible configurations of a typical FRC swerve drive.
calculate robot-centric and field-centric wheel speeds and wheel steering angles for a vehicle with four-wheel independent drive and independent steering ("swerve" drive)
Describes the 'SimSwerve' omnidirectional drive system used by Simbotics (Team 1114) in 2004. It includes an overview of the theory behind omnidirectional drive (with pseudocode), a description of various possible designs, and a detailed description of the design used. See the discussion thread fo...
We like to help, otherwise they put us back in our cages. - Matt Krass [more] 
