Open Mysterium422 opened 2 weeks ago
https://docs.wpilib.org/en/stable/docs/software/kinematics-and-odometry/swerve-drive-kinematics.html#cosine-compensation
https://docs.wpilib.org/en/stable/docs/software/kinematics-and-odometry/swerve-drive-kinematics.html#cosine-compensation