Over the summer, I was given the challenge of create a more generalized swerve algorithm for any configuration of wheels:

Also right back at you with a challenge problem:

How do you generalize the solution for swerve I proposed to a non-rectangular robot? Specifically, how do you solve swerve for a drivebase with n wheels randomly scattered in the x-y plane such that the robot translates and rotates about the geometric center of the convex polygon defined by the wheel arrangement without any wheels skidding or slipping?

Here is my shot at the problem. I used Processing.

Let me know if you have any feedback. Not much applicability in FRC but maybe another kind of robot. *I challenge all of you to this problem*.