This repository contains the code from the code we went over today. It should be pretty well commented and pretty self-explanatory. If you don't remember how the speeds of each wheel are calculated, you can refer to the diagram below.
For reference, remember that we calculate the speeds with these formulas:
| Wheels | Speeds |
|---|---|
| Front left | drive + strafe + twist |
| Front right | drive - strafe - twist |
| Back left | drive - strafe + twist |
| Back right | drive + strafe - twist |
If something still doesn't make sense, don't be afraid to send me an email or open an issue on this repository. You're not dumb, I just need to explain it better.