https://google.com/search?q=omni+wheel+drive https://gitlab.com/aruw/controls/aruw-mcb/-/blob/develop/aruw-mcb-project/src/aruwsrc/control/chassis/holonomic_chassis_subsystem.cpp?ref_type=heads https://gitlab.com/aruw/controls/aruw-mcb/-/blob/develop/aruw-mcb-project/src/aruwsrc/control/chassis/holonomic_chassis_subsystem.hpp?ref_type=heads
