Our design was to attach the wheels at a 45 degree angle. To make them move in all directions possible, we decided to use /apply vectors.
Explanation of our design:
We put the motors 45 degrees apart.
The arrow indicates the positive direction. If all the motors are running in the positive direction, the robot will go in a circle in clockwise direction. If all the motors are going in the negative direction, the robot will go in a circle in the counterclockwise direction. To go north, south, east, and west, all 4 motors run but in a different combination of positives and negatives.
For NW, SW, SE, SW, 2 motors are not running at all because the other 2 motors will go in that specific direction and the 2 other ones don’t move at all.
After all the calculation, here is the full table.
The plus indicates the positive direction and the minus indicates the Reverse direction