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 omni-directional 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: ?aff=7500 Music for your YouTube videos: *************************** Other socials: *************************** Instagram: