Custom Rectangular Swerve Drive Chassis

What kind of problems does the rectangular swerve drive chassis cause in software.

As long as you properly create a kinematics object with wheel positions passed, all you need to do is change the coordinates of each module.
here is an example of a square kinematics object, just change the translation2ds to where you’re wheels are relative to the center of the robot.


thank you for the answer. Is it enough to set the coordinates?

Yes, just changing those coordinates to the new coordinates of the wheel relative to the center of the robot.

The docs are here: