How Many Ways Can This Robot Steer

AD The first 200 people to sign up to Brilliant using my special link will get 20 off: This vehicle is omnidirectional and uses a combination of Ackermann and swerve steering to achieve it. I really wanted to see how well this would work out using trigonometry to calculate the wheel angles and velocities based on their distance from the centre of rotation. CAD and code: You can support me on Patreon or buy my Merchandise: Patreon: Merchandise: Affiliate links I will get some money of you use them to sign up or buy something: Matterhackers 3D printing supplies: Music for your YouTube videos: Other socials: Instagram: