Hello, yagsl’s 2025.1.1 update has not arrived yet. I wrote mk4i code myself, but I’m worried about it working. Do you think this code will work? Is there anything wrong or missing that would prevent it from working in theory?
To ensure that all the swerve module go in the right direction for turning while driving, you will need to do vector addition. The easiest way to do this would be matrix math, and you can consult the the Swerve Drive Second Order Kinematics paper, published by team 449 - Whitepaper: Swerve Drive Skew and Second Order Kinematics
Hope this helps!