Overview
write an essay to explain the formula ( inverse kinetic apply for the four Mecanum wheels)
equation attached a picture attached bellow and also explain the Pythagorean one for Vx, Vy and the angular velocity
also you can explain the forward kinetics how it can be in Vy, Vx and and the angular velocity given the diameter of the wheel is 80mm with 1.8 step per angle or 200 step per revolution ( try to convert it similarlyly with the sample of article )
link sample: https://ecam-eurobot.github.io/Tutorials/mechanica...