Swerve drive goes in an arc while rotating

[apotato]

Whitepaper: Swerve Drive Skew and Second Order Kinematics

Team 449 made our first swerve drive a few months ago, and one of the first things we noticed is that when driving straight and spinning at the same time, the robot always skews in the direction of rotation. I’m sure many of you have also encountered this problem - if you’re wondering whether it’s happening because of an error in your code, the short answer is no. We spent a while trying to debug this issue, and through asking online we settled on the theory that since swerve constant translati…