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$CellContext`robotWidth$$}, $CellContext`topRightRotation$ = \
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$CellContext`robotWidth$$}, $CellContext`bottomRightRotation$ = \
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$CellContext`checkIfDefined[Pi/2 + ArcTan[
             
             Part[{$CellContext`leftJoystickX$$, \
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$CellContext`scaleRotation[{-$CellContext`robotLength$$, \
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$CellContext`rightJoystickX$$, $CellContext`rotationMagnitude$]}]}], 
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$CellContext`bottomLeftPoint$ + \
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         Pattern[$CellContext`rotMag, 
          
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Cell["\<\
Simulates a robot with a swerve drivetrain \
(https://team1640.com/wiki/index.php/Swerve_Central). Given a combination of \
robot translation and rotation values, the translation, rotation, and output \
vectors for each of the four independent swerve modules are calculated and \
displayed. This demonstration is useful to understand how to calculate the \
vectors for each module such that the robot will translate and rotate as \
desired. Note: An output vector represents a velocity vector, where the \
direction of the vector is the direction that the module should point and the \
magnitude of the vector is proportional to how fast the module's wheel should \
rotate (the maximum output vector magnitude is Sqrt[2] and the minimum is 0, \
so the output vector must be scaled to attain the desired range).\
\>", "ManipulateCaption",
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    ArrowBox[{{1.7, 1.6925}, {3.1408040289680237`, 1.1647167839718713`}}]}, 
   {RGBColor[0.5, 0, 0.5], 
    ArrowBox[{{-1.7, -1.6925}, {-1.3108040289680232`, \
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   {RGBColor[0.5, 0, 0.5], 
    ArrowBox[{{1.7, -1.6925}, {2.0891959710319767`, -2.2202832160281285`}}]}},
  Axes->False,
  AxesOrigin->{{0, 0}, {0, 0}},
  PlotLabel->FormBox[
    TagBox[
     GridBox[{{
        StyleBox["\"Legend:\"", 
         GrayLevel[0], FontSize -> 16, StripOnInput -> False]}, {
        StyleBox["\"Translation Vectors\"", 
         RGBColor[1, 0, 0], StripOnInput -> False]}, {
        StyleBox["\"Rotation Vectors\"", 
         RGBColor[0, 0, 1], StripOnInput -> False]}, {
        StyleBox["\"Net Vectors\"", 
         RGBColor[0.5, 0, 0.5], StripOnInput -> False]}, {
       "\"Rotation Circle\""}}, GridBoxAlignment -> {"Columns" -> {{Center}}},
       DefaultBaseStyle -> "Column", 
      GridBoxItemSize -> {
       "Columns" -> {{Automatic}}, "Rows" -> {{Automatic}}}], "Column"], 
    TraditionalForm],
  PlotRange->{{-4, 4}, {-2.5, 3}}]], "Output",
 CellEditDuplicate->False,
 GeneratedCell->False,
 CellAutoOverwrite->False,
 CellChangeTimes->{3.7864934775107083`*^9, 
  3.7864962889668183`*^9},ExpressionUUID->"fad33bfa-7ffd-449d-886e-\
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}, Open  ]],

Cell[CellGroupData[{

Cell["", "SnapshotsSection",ExpressionUUID->"e422ee72-883d-4137-9663-f64ac8edbeec"],

Cell[BoxData[
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$CellContext`leftJoystickY$$ = 
    0.9750000000000001, $CellContext`rightJoystickX$$ = 
    0.8300000000000001, $CellContext`robotLength$$ = 
    3.84, $CellContext`robotWidth$$ = 1.8, Typeset`show$$ = True, 
    Typeset`bookmarkList$$ = {}, Typeset`bookmarkMode$$ = "Menu", 
    Typeset`animator$$, Typeset`animvar$$ = 1, Typeset`name$$ = 
    "\"untitled\"", Typeset`specs$$ = {{{
       Hold[$CellContext`robotWidth$$], 2.7, "Robot Width"}, 1.5, 4}, {{
       Hold[$CellContext`robotLength$$], 2.49, "Robot Length"}, 1.5, 4}, {{
       Hold[$CellContext`leftJoystickY$$], 0.9750000000000001, 
       "Up/Down Translation"}, -1, 1}, {{
       Hold[$CellContext`leftJoystickX$$], -0.0050000000000000044`, 
       "Left/Right Translation"}, -1, 1}, {{
       Hold[$CellContext`rightJoystickX$$], -0.865, "Rotation"}, -1, 1}}, 
    Typeset`size$$ = {487., {207., 212.}}, Typeset`update$$ = 0, 
    Typeset`initDone$$, Typeset`skipInitDone$$ = 
    False, $CellContext`robotWidth$54950$$ = 
    0, $CellContext`robotLength$54951$$ = 
    0, $CellContext`leftJoystickY$54952$$ = 
    0, $CellContext`leftJoystickX$54953$$ = 
    0, $CellContext`rightJoystickX$54954$$ = 0}, 
    DynamicBox[Manipulate`ManipulateBoxes[
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      "Variables" :> {$CellContext`leftJoystickX$$ = -0.0050000000000000044`, \
$CellContext`leftJoystickY$$ = 
        0.9750000000000001, $CellContext`rightJoystickX$$ = -0.865, \
$CellContext`robotLength$$ = 2.49, $CellContext`robotWidth$$ = 2.7}, 
      "ControllerVariables" :> {
        Hold[$CellContext`robotWidth$$, $CellContext`robotWidth$54950$$, 0], 
        Hold[$CellContext`robotLength$$, $CellContext`robotLength$54951$$, 0], 
        Hold[$CellContext`leftJoystickY$$, $CellContext`leftJoystickY$54952$$,
          0], 
        Hold[$CellContext`leftJoystickX$$, $CellContext`leftJoystickX$54953$$,
          0], 
        Hold[$CellContext`rightJoystickX$$, \
$CellContext`rightJoystickX$54954$$, 0]}, 
      "OtherVariables" :> {
       Typeset`show$$, Typeset`bookmarkList$$, Typeset`bookmarkMode$$, 
        Typeset`animator$$, Typeset`animvar$$, Typeset`name$$, 
        Typeset`specs$$, Typeset`size$$, Typeset`update$$, Typeset`initDone$$,
         Typeset`skipInitDone$$}, "Body" :> 
      Module[{$CellContext`robot$ = Graphics[{
            FaceForm[], 
            EdgeForm[Black], 
            
            Rectangle[{-$CellContext`robotWidth$$/
              2, -$CellContext`robotLength$$/2}, {$CellContext`robotWidth$$/
              2, $CellContext`robotLength$$/2}]}, PlotLabel -> Column[{
              Style["Legend:", Black, FontSize -> 16], 
              Style["Translation Vectors", Red], 
              Style["Rotation Vectors", Blue], 
              Style["Net Vectors", Purple], "Rotation Circle"}, Center], 
           AxesOrigin -> {{0, 0}, {0, 0}}, PlotRange -> {{-4, 4}, {-2.5, 3}}, 
           Axes -> False], $CellContext`robotVectorOrigin$ = {0, 
          4}, $CellContext`topLeftPoint$ = {-$CellContext`robotWidth$$/2 + 
           0.3, $CellContext`robotLength$$/2 - 
           0.3}, $CellContext`topRightPoint$ = {$CellContext`robotWidth$$/2 - 
           0.3, $CellContext`robotLength$$/2 - 
           0.3}, $CellContext`bottomLeftPoint$ = {-$CellContext`robotWidth$$/
            2 + 0.3, -$CellContext`robotLength$$/2 + 
           0.3}, $CellContext`bottomRightPoint$ = {$CellContext`robotWidth$$/
            2 - 0.3, -$CellContext`robotLength$$/2 + 
           0.3}, $CellContext`wheelToCenterDistance$ = 
         Sqrt[($CellContext`robotWidth$$/2 - 
             0.3)^2 + ($CellContext`robotLength$$/2 - 
             0.3)^2], $CellContext`translation$ = \
{$CellContext`leftJoystickX$$, $CellContext`leftJoystickY$$}, \
$CellContext`rotationMagnitude$ = 
         Sqrt[$CellContext`robotWidth$$^2 + $CellContext`robotLength$$^2], \
$CellContext`topLeftRotation$ = {$CellContext`robotLength$$, \
$CellContext`robotWidth$$}, $CellContext`topRightRotation$ = \
{$CellContext`robotLength$$, -$CellContext`robotWidth$$}, \
$CellContext`bottomLeftRotation$ = {-$CellContext`robotLength$$, \
$CellContext`robotWidth$$}, $CellContext`bottomRightRotation$ = \
{-$CellContext`robotLength$$, -$CellContext`robotWidth$$}, $CellContext`\
\[Theta]TopLeft$ = $CellContext`checkIfDefined[Pi/2 + ArcTan[
             
             Part[{$CellContext`leftJoystickX$$, \
$CellContext`leftJoystickY$$} + \
$CellContext`scaleRotation[{$CellContext`robotLength$$, \
$CellContext`robotWidth$$}, $CellContext`rightJoystickX$$, 
                
                Sqrt[$CellContext`robotWidth$$^2 + \
$CellContext`robotLength$$^2]], 1], 
             
             Part[{$CellContext`leftJoystickX$$, \
$CellContext`leftJoystickY$$} + \
$CellContext`scaleRotation[{$CellContext`robotLength$$, \
$CellContext`robotWidth$$}, $CellContext`rightJoystickX$$, 
                
                Sqrt[$CellContext`robotWidth$$^2 + \
$CellContext`robotLength$$^2]], 
              2]]], $CellContext`\[Theta]TopRight$ = \
$CellContext`checkIfDefined[Pi/2 + ArcTan[
             
             Part[{$CellContext`leftJoystickX$$, \
$CellContext`leftJoystickY$$} + \
$CellContext`scaleRotation[{$CellContext`robotLength$$, \
-$CellContext`robotWidth$$}, $CellContext`rightJoystickX$$, 
                
                Sqrt[$CellContext`robotWidth$$^2 + \
$CellContext`robotLength$$^2]], 1], 
             
             Part[{$CellContext`leftJoystickX$$, \
$CellContext`leftJoystickY$$} + \
$CellContext`scaleRotation[{$CellContext`robotLength$$, \
-$CellContext`robotWidth$$}, $CellContext`rightJoystickX$$, 
                
                Sqrt[$CellContext`robotWidth$$^2 + \
$CellContext`robotLength$$^2]], 
              2]]], $CellContext`\[Theta]BottomLeft$ = \
$CellContext`checkIfDefined[Pi/2 + ArcTan[
             
             Part[{$CellContext`leftJoystickX$$, \
$CellContext`leftJoystickY$$} + \
$CellContext`scaleRotation[{-$CellContext`robotLength$$, \
$CellContext`robotWidth$$}, $CellContext`rightJoystickX$$, 
                
                Sqrt[$CellContext`robotWidth$$^2 + \
$CellContext`robotLength$$^2]], 1], 
             
             Part[{$CellContext`leftJoystickX$$, \
$CellContext`leftJoystickY$$} + \
$CellContext`scaleRotation[{-$CellContext`robotLength$$, \
$CellContext`robotWidth$$}, $CellContext`rightJoystickX$$, 
                
                Sqrt[$CellContext`robotWidth$$^2 + \
$CellContext`robotLength$$^2]], 
              2]]], $CellContext`\[Theta]BottomRight$ = \
$CellContext`checkIfDefined[Pi/2 + ArcTan[
             
             Part[{$CellContext`leftJoystickX$$, \
$CellContext`leftJoystickY$$} + \
$CellContext`scaleRotation[{-$CellContext`robotLength$$, \
-$CellContext`robotWidth$$}, $CellContext`rightJoystickX$$, 
                
                Sqrt[$CellContext`robotWidth$$^2 + \
$CellContext`robotLength$$^2]], 1], 
             
             Part[{$CellContext`leftJoystickX$$, \
$CellContext`leftJoystickY$$} + \
$CellContext`scaleRotation[{-$CellContext`robotLength$$, \
-$CellContext`robotWidth$$}, $CellContext`rightJoystickX$$, 
                
                Sqrt[$CellContext`robotWidth$$^2 + \
$CellContext`robotLength$$^2]], 2]]]}, 
        Show[$CellContext`robot$, 
         ListPlot[{$CellContext`topLeftPoint$, $CellContext`topRightPoint$, \
$CellContext`bottomLeftPoint$, $CellContext`bottomRightPoint$}, 
          PlotStyle -> {Black}], 
         Graphics[{
           Opacity[0.3], 
           Circle[{0, 0}, $CellContext`wheelToCenterDistance$]}], 
         ListPlot[
          $CellContext`getWheelPts[$CellContext`topLeftPoint$, $CellContext`\
\[Theta]TopLeft$], Joined -> True, PlotStyle -> Opacity[0.75]], 
         ListPlot[
          $CellContext`getWheelPts[$CellContext`topRightPoint$, $CellContext`\
\[Theta]TopRight$], Joined -> True, PlotStyle -> Opacity[0.75]], 
         ListPlot[
          $CellContext`getWheelPts[$CellContext`bottomLeftPoint$, \
$CellContext`\[Theta]BottomLeft$], Joined -> True, PlotStyle -> 
          Opacity[0.75]], 
         ListPlot[
          $CellContext`getWheelPts[$CellContext`bottomRightPoint$, \
$CellContext`\[Theta]BottomRight$], Joined -> True, PlotStyle -> 
          Opacity[0.75]], 
         Graphics[{Red, 
           
           Arrow[{$CellContext`topLeftPoint$, $CellContext`topLeftPoint$ + \
$CellContext`translation$}]}], 
         Graphics[{Red, 
           
           Arrow[{$CellContext`topRightPoint$, $CellContext`topRightPoint$ + \
$CellContext`translation$}]}], 
         Graphics[{Red, 
           
           Arrow[{$CellContext`bottomLeftPoint$, \
$CellContext`bottomLeftPoint$ + $CellContext`translation$}]}], 
         Graphics[{Red, 
           
           Arrow[{$CellContext`bottomRightPoint$, \
$CellContext`bottomRightPoint$ + $CellContext`translation$}]}], 
         Graphics[{Blue, 
           
           Arrow[{$CellContext`topLeftPoint$, $CellContext`topLeftPoint$ + \
$CellContext`scaleRotation[$CellContext`topLeftRotation$, \
$CellContext`rightJoystickX$$, $CellContext`rotationMagnitude$]}]}], 
         Graphics[{Blue, 
           
           Arrow[{$CellContext`topRightPoint$, $CellContext`topRightPoint$ + \
$CellContext`scaleRotation[$CellContext`topRightRotation$, \
$CellContext`rightJoystickX$$, $CellContext`rotationMagnitude$]}]}], 
         Graphics[{Blue, 
           
           Arrow[{$CellContext`bottomLeftPoint$, \
$CellContext`bottomLeftPoint$ + \
$CellContext`scaleRotation[$CellContext`bottomLeftRotation$, \
$CellContext`rightJoystickX$$, $CellContext`rotationMagnitude$]}]}], 
         Graphics[{Blue, 
           
           Arrow[{$CellContext`bottomRightPoint$, \
$CellContext`bottomRightPoint$ + \
$CellContext`scaleRotation[$CellContext`bottomRightRotation$, \
$CellContext`rightJoystickX$$, $CellContext`rotationMagnitude$]}]}], 
         Graphics[{Purple, 
           
           Arrow[{$CellContext`topLeftPoint$, $CellContext`topLeftPoint$ + \
$CellContext`translation$ + \
$CellContext`scaleRotation[$CellContext`topLeftRotation$, \
$CellContext`rightJoystickX$$, $CellContext`rotationMagnitude$]}]}], 
         Graphics[{Purple, 
           
           Arrow[{$CellContext`topRightPoint$, $CellContext`topRightPoint$ + \
$CellContext`translation$ + \
$CellContext`scaleRotation[$CellContext`topRightRotation$, \
$CellContext`rightJoystickX$$, $CellContext`rotationMagnitude$]}]}], 
         Graphics[{Purple, 
           
           Arrow[{$CellContext`bottomLeftPoint$, \
$CellContext`bottomLeftPoint$ + $CellContext`translation$ + \
$CellContext`scaleRotation[$CellContext`bottomLeftRotation$, \
$CellContext`rightJoystickX$$, $CellContext`rotationMagnitude$]}]}], 
         Graphics[{Purple, 
           
           Arrow[{$CellContext`bottomRightPoint$, \
$CellContext`bottomRightPoint$ + $CellContext`translation$ + \
$CellContext`scaleRotation[$CellContext`bottomRightRotation$, \
$CellContext`rightJoystickX$$, $CellContext`rotationMagnitude$]}]}]]], 
      "Specifications" :> {{{$CellContext`robotWidth$$, 2.7, "Robot Width"}, 
         1.5, 4}, {{$CellContext`robotLength$$, 2.49, "Robot Length"}, 1.5, 
         4}, {{$CellContext`leftJoystickY$$, 0.9750000000000001, 
          "Up/Down Translation"}, -1, 
         1}, {{$CellContext`leftJoystickX$$, -0.0050000000000000044`, 
          "Left/Right Translation"}, -1, 
         1}, {{$CellContext`rightJoystickX$$, -0.865, "Rotation"}, -1, 1}}, 
      "Options" :> {}, "DefaultOptions" :> {ControllerLinking -> True}],
     ImageSizeCache->{536., {308., 314.}},
     SingleEvaluation->True],
    Deinitialization:>None,
    DynamicModuleValues:>{},
    Initialization:>({$CellContext`checkIfDefined = 
       Function[{$CellContext`val}, 
         If[$CellContext`val === Indeterminate, 
          0, $CellContext`val]], $CellContext`scaleRotation[
         Pattern[$CellContext`rotVec, 
          Blank[]], 
         Pattern[$CellContext`x, 
          Blank[]], 
         Pattern[$CellContext`rotMag, 
          
          Blank[]]] = ($CellContext`rotVec \
$CellContext`x)/$CellContext`rotMag, $CellContext`getWheelPts = 
       Function[{$CellContext`point, $CellContext`\[Theta]}, 
         Module[{$CellContext`pts = {{-0.1, 0.23}, {0.1, 0.23}, {
            0.1, -0.23}, {-0.1, -0.23}, {-0.1, 
            0.23}}}, $CellContext`rotate[$CellContext`pts, $CellContext`\
\[Theta]] + {$CellContext`point, $CellContext`point, $CellContext`point, \
$CellContext`point, $CellContext`point}]], $CellContext`rotate = 
       Function[{$CellContext`pts, $CellContext`\[Theta]}, 
         Table[
          Dot[
           Part[$CellContext`pts, $CellContext`i], 
           $CellContext`rotationmatrix[$CellContext`\[Theta]]], \
{$CellContext`i, 1, 5}]], $CellContext`rotationmatrix[
         Pattern[$CellContext`\[Theta], 
          Blank[]]] = {{
          Cos[$CellContext`\[Theta]], 
          Sin[$CellContext`\[Theta]]}, {-Sin[$CellContext`\[Theta]], 
          Cos[$CellContext`\[Theta]]}}}; Typeset`initDone$$ = True),
    SynchronousInitialization->True,
    UndoTrackedVariables:>{Typeset`show$$, Typeset`bookmarkMode$$},
    UnsavedVariables:>{Typeset`initDone$$},
    UntrackedVariables:>{Typeset`size$$}], "Manipulate",
   Deployed->True,
   StripOnInput->False],
  Manipulate`InterpretManipulate[1]]], "Input",
 CellChangeTimes->{{3.7864963051312976`*^9, 3.7864963072399225`*^9}, {
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 CellID->472188158,ExpressionUUID->"d2e0714e-abb8-4237-8b9e-48f3d7917712"],

Cell[BoxData[
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     0.915, $CellContext`leftJoystickY$$ = -0.515, \
$CellContext`rightJoystickX$$ = 0, $CellContext`robotLength$$ = 
     1.5, $CellContext`robotWidth$$ = 3.9050000000000002`, Typeset`show$$ = 
     True, Typeset`bookmarkList$$ = {}, Typeset`bookmarkMode$$ = "Menu", 
     Typeset`animator$$, Typeset`animvar$$ = 1, Typeset`name$$ = 
     "\"untitled\"", Typeset`specs$$ = {{{
        Hold[$CellContext`robotWidth$$], 1.525, "Robot Width"}, 1.5, 4}, {{
        Hold[$CellContext`robotLength$$], 3.97, "Robot Length"}, 1.5, 4}, {{
        Hold[$CellContext`leftJoystickY$$], -0.515, 
        "Up/Down Translation"}, -1, 1}, {{
        Hold[$CellContext`leftJoystickX$$], 0.915, 
        "Left/Right Translation"}, -1, 1}, {{
        Hold[$CellContext`rightJoystickX$$], -0.97, "Rotation"}, -1, 1}}, 
     Typeset`size$$ = {488., {207., 213.}}, Typeset`update$$ = 0, 
     Typeset`initDone$$, Typeset`skipInitDone$$ = 
     False, $CellContext`robotWidth$48027$$ = 
     0, $CellContext`robotLength$48028$$ = 
     0, $CellContext`leftJoystickY$48029$$ = 
     0, $CellContext`leftJoystickX$48030$$ = 
     0, $CellContext`rightJoystickX$48031$$ = 0}, 
     DynamicBox[Manipulate`ManipulateBoxes[
      1, StandardForm, 
       "Variables" :> {$CellContext`leftJoystickX$$ = 
         0.915, $CellContext`leftJoystickY$$ = -0.515, \
$CellContext`rightJoystickX$$ = -0.97, $CellContext`robotLength$$ = 
         3.97, $CellContext`robotWidth$$ = 1.525}, "ControllerVariables" :> {
         Hold[$CellContext`robotWidth$$, $CellContext`robotWidth$48027$$, 0], 
         Hold[$CellContext`robotLength$$, $CellContext`robotLength$48028$$, 
          0], 
         Hold[$CellContext`leftJoystickY$$, \
$CellContext`leftJoystickY$48029$$, 0], 
         Hold[$CellContext`leftJoystickX$$, \
$CellContext`leftJoystickX$48030$$, 0], 
         Hold[$CellContext`rightJoystickX$$, \
$CellContext`rightJoystickX$48031$$, 0]}, 
       "OtherVariables" :> {
        Typeset`show$$, Typeset`bookmarkList$$, Typeset`bookmarkMode$$, 
         Typeset`animator$$, Typeset`animvar$$, Typeset`name$$, 
         Typeset`specs$$, Typeset`size$$, Typeset`update$$, 
         Typeset`initDone$$, Typeset`skipInitDone$$}, "Body" :> 
       Module[{$CellContext`robot$ = Graphics[{
             FaceForm[], 
             EdgeForm[Black], 
             
             Rectangle[{-$CellContext`robotWidth$$/
               2, -$CellContext`robotLength$$/2}, {$CellContext`robotWidth$$/
               2, $CellContext`robotLength$$/2}]}, PlotLabel -> Column[{
               Style["Legend:", Black, FontSize -> 16], 
               Style["Translation Vectors", Red], 
               Style["Rotation Vectors", Blue], 
               Style["Net Vectors", Purple], "Rotation Circle"}, Center], 
            AxesOrigin -> {{0, 0}, {0, 0}}, PlotRange -> {{-4, 4}, {-2.5, 3}},
             Axes -> False], $CellContext`robotVectorOrigin$ = {0, 
           4}, $CellContext`topLeftPoint$ = {-$CellContext`robotWidth$$/2 + 
            0.3, $CellContext`robotLength$$/2 - 
            0.3}, $CellContext`topRightPoint$ = {$CellContext`robotWidth$$/2 - 
            0.3, $CellContext`robotLength$$/2 - 
            0.3}, $CellContext`bottomLeftPoint$ = {-$CellContext`robotWidth$$/
             2 + 0.3, -$CellContext`robotLength$$/2 + 
            0.3}, $CellContext`bottomRightPoint$ = {$CellContext`robotWidth$$/
             2 - 0.3, -$CellContext`robotLength$$/2 + 
            0.3}, $CellContext`wheelToCenterDistance$ = 
          Sqrt[($CellContext`robotWidth$$/2 - 
              0.3)^2 + ($CellContext`robotLength$$/2 - 
              0.3)^2], $CellContext`translation$ = \
{$CellContext`leftJoystickX$$, $CellContext`leftJoystickY$$}, \
$CellContext`rotationMagnitude$ = 
          Sqrt[$CellContext`robotWidth$$^2 + $CellContext`robotLength$$^2], \
$CellContext`topLeftRotation$ = {$CellContext`robotLength$$, \
$CellContext`robotWidth$$}, $CellContext`topRightRotation$ = \
{$CellContext`robotLength$$, -$CellContext`robotWidth$$}, \
$CellContext`bottomLeftRotation$ = {-$CellContext`robotLength$$, \
$CellContext`robotWidth$$}, $CellContext`bottomRightRotation$ = \
{-$CellContext`robotLength$$, -$CellContext`robotWidth$$}, $CellContext`\
\[Theta]TopLeft$ = $CellContext`checkIfDefined[Pi/2 + ArcTan[
              
              Part[{$CellContext`leftJoystickX$$, \
$CellContext`leftJoystickY$$} + \
$CellContext`scaleRotation[{$CellContext`robotLength$$, \
$CellContext`robotWidth$$}, $CellContext`rightJoystickX$$, 
                 
                 Sqrt[$CellContext`robotWidth$$^2 + \
$CellContext`robotLength$$^2]], 1], 
              
              Part[{$CellContext`leftJoystickX$$, \
$CellContext`leftJoystickY$$} + \
$CellContext`scaleRotation[{$CellContext`robotLength$$, \
$CellContext`robotWidth$$}, $CellContext`rightJoystickX$$, 
                 
                 Sqrt[$CellContext`robotWidth$$^2 + \
$CellContext`robotLength$$^2]], 
               2]]], $CellContext`\[Theta]TopRight$ = \
$CellContext`checkIfDefined[Pi/2 + ArcTan[
              
              Part[{$CellContext`leftJoystickX$$, \
$CellContext`leftJoystickY$$} + \
$CellContext`scaleRotation[{$CellContext`robotLength$$, \
-$CellContext`robotWidth$$}, $CellContext`rightJoystickX$$, 
                 
                 Sqrt[$CellContext`robotWidth$$^2 + \
$CellContext`robotLength$$^2]], 1], 
              
              Part[{$CellContext`leftJoystickX$$, \
$CellContext`leftJoystickY$$} + \
$CellContext`scaleRotation[{$CellContext`robotLength$$, \
-$CellContext`robotWidth$$}, $CellContext`rightJoystickX$$, 
                 
                 Sqrt[$CellContext`robotWidth$$^2 + \
$CellContext`robotLength$$^2]], 
               2]]], $CellContext`\[Theta]BottomLeft$ = \
$CellContext`checkIfDefined[Pi/2 + ArcTan[
              
              Part[{$CellContext`leftJoystickX$$, \
$CellContext`leftJoystickY$$} + \
$CellContext`scaleRotation[{-$CellContext`robotLength$$, \
$CellContext`robotWidth$$}, $CellContext`rightJoystickX$$, 
                 
                 Sqrt[$CellContext`robotWidth$$^2 + \
$CellContext`robotLength$$^2]], 1], 
              
              Part[{$CellContext`leftJoystickX$$, \
$CellContext`leftJoystickY$$} + \
$CellContext`scaleRotation[{-$CellContext`robotLength$$, \
$CellContext`robotWidth$$}, $CellContext`rightJoystickX$$, 
                 
                 Sqrt[$CellContext`robotWidth$$^2 + \
$CellContext`robotLength$$^2]], 
               2]]], $CellContext`\[Theta]BottomRight$ = \
$CellContext`checkIfDefined[Pi/2 + ArcTan[
              
              Part[{$CellContext`leftJoystickX$$, \
$CellContext`leftJoystickY$$} + \
$CellContext`scaleRotation[{-$CellContext`robotLength$$, \
-$CellContext`robotWidth$$}, $CellContext`rightJoystickX$$, 
                 
                 Sqrt[$CellContext`robotWidth$$^2 + \
$CellContext`robotLength$$^2]], 1], 
              
              Part[{$CellContext`leftJoystickX$$, \
$CellContext`leftJoystickY$$} + \
$CellContext`scaleRotation[{-$CellContext`robotLength$$, \
-$CellContext`robotWidth$$}, $CellContext`rightJoystickX$$, 
                 
                 Sqrt[$CellContext`robotWidth$$^2 + \
$CellContext`robotLength$$^2]], 2]]]}, 
         Show[$CellContext`robot$, 
          
          ListPlot[{$CellContext`topLeftPoint$, $CellContext`topRightPoint$, \
$CellContext`bottomLeftPoint$, $CellContext`bottomRightPoint$}, 
           PlotStyle -> {Black}], 
          Graphics[{
            Opacity[0.3], 
            Circle[{0, 0}, $CellContext`wheelToCenterDistance$]}], 
          ListPlot[
           $CellContext`getWheelPts[$CellContext`topLeftPoint$, $CellContext`\
\[Theta]TopLeft$], Joined -> True, PlotStyle -> Opacity[0.75]], 
          ListPlot[
           $CellContext`getWheelPts[$CellContext`topRightPoint$, \
$CellContext`\[Theta]TopRight$], Joined -> True, PlotStyle -> Opacity[0.75]], 
          ListPlot[
           $CellContext`getWheelPts[$CellContext`bottomLeftPoint$, \
$CellContext`\[Theta]BottomLeft$], Joined -> True, PlotStyle -> 
           Opacity[0.75]], 
          ListPlot[
           $CellContext`getWheelPts[$CellContext`bottomRightPoint$, \
$CellContext`\[Theta]BottomRight$], Joined -> True, PlotStyle -> 
           Opacity[0.75]], 
          Graphics[{Red, 
            
            Arrow[{$CellContext`topLeftPoint$, $CellContext`topLeftPoint$ + \
$CellContext`translation$}]}], 
          Graphics[{Red, 
            
            Arrow[{$CellContext`topRightPoint$, $CellContext`topRightPoint$ + \
$CellContext`translation$}]}], 
          Graphics[{Red, 
            
            Arrow[{$CellContext`bottomLeftPoint$, \
$CellContext`bottomLeftPoint$ + $CellContext`translation$}]}], 
          Graphics[{Red, 
            
            Arrow[{$CellContext`bottomRightPoint$, \
$CellContext`bottomRightPoint$ + $CellContext`translation$}]}], 
          Graphics[{Blue, 
            
            Arrow[{$CellContext`topLeftPoint$, $CellContext`topLeftPoint$ + \
$CellContext`scaleRotation[$CellContext`topLeftRotation$, \
$CellContext`rightJoystickX$$, $CellContext`rotationMagnitude$]}]}], 
          Graphics[{Blue, 
            
            Arrow[{$CellContext`topRightPoint$, $CellContext`topRightPoint$ + \
$CellContext`scaleRotation[$CellContext`topRightRotation$, \
$CellContext`rightJoystickX$$, $CellContext`rotationMagnitude$]}]}], 
          Graphics[{Blue, 
            
            Arrow[{$CellContext`bottomLeftPoint$, \
$CellContext`bottomLeftPoint$ + \
$CellContext`scaleRotation[$CellContext`bottomLeftRotation$, \
$CellContext`rightJoystickX$$, $CellContext`rotationMagnitude$]}]}], 
          Graphics[{Blue, 
            
            Arrow[{$CellContext`bottomRightPoint$, \
$CellContext`bottomRightPoint$ + \
$CellContext`scaleRotation[$CellContext`bottomRightRotation$, \
$CellContext`rightJoystickX$$, $CellContext`rotationMagnitude$]}]}], 
          Graphics[{Purple, 
            
            Arrow[{$CellContext`topLeftPoint$, $CellContext`topLeftPoint$ + \
$CellContext`translation$ + \
$CellContext`scaleRotation[$CellContext`topLeftRotation$, \
$CellContext`rightJoystickX$$, $CellContext`rotationMagnitude$]}]}], 
          Graphics[{Purple, 
            
            Arrow[{$CellContext`topRightPoint$, $CellContext`topRightPoint$ + \
$CellContext`translation$ + \
$CellContext`scaleRotation[$CellContext`topRightRotation$, \
$CellContext`rightJoystickX$$, $CellContext`rotationMagnitude$]}]}], 
          Graphics[{Purple, 
            
            Arrow[{$CellContext`bottomLeftPoint$, \
$CellContext`bottomLeftPoint$ + $CellContext`translation$ + \
$CellContext`scaleRotation[$CellContext`bottomLeftRotation$, \
$CellContext`rightJoystickX$$, $CellContext`rotationMagnitude$]}]}], 
          Graphics[{Purple, 
            
            Arrow[{$CellContext`bottomRightPoint$, \
$CellContext`bottomRightPoint$ + $CellContext`translation$ + \
$CellContext`scaleRotation[$CellContext`bottomRightRotation$, \
$CellContext`rightJoystickX$$, $CellContext`rotationMagnitude$]}]}]]], 
       "Specifications" :> {{{$CellContext`robotWidth$$, 1.525, 
           "Robot Width"}, 1.5, 
          4}, {{$CellContext`robotLength$$, 3.97, "Robot Length"}, 1.5, 
          4}, {{$CellContext`leftJoystickY$$, -0.515, 
           "Up/Down Translation"}, -1, 
          1}, {{$CellContext`leftJoystickX$$, 0.915, 
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     DynamicModuleValues:>{},
     Initialization:>({$CellContext`checkIfDefined = 
        Function[{$CellContext`val}, 
          
          If[$CellContext`val === Indeterminate, 
           0, $CellContext`val]], $CellContext`scaleRotation[
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           Blank[]], 
          Pattern[$CellContext`x, 
           Blank[]], 
          Pattern[$CellContext`rotMag, 
           
           Blank[]]] = ($CellContext`rotVec \
$CellContext`x)/$CellContext`rotMag, $CellContext`getWheelPts = 
        Function[{$CellContext`point, $CellContext`\[Theta]}, 
          
          Module[{$CellContext`pts = {{-0.1, 0.23}, {0.1, 0.23}, {
             0.1, -0.23}, {-0.1, -0.23}, {-0.1, 
             
             0.23}}}, $CellContext`rotate[$CellContext`pts, $CellContext`\
\[Theta]] + {$CellContext`point, $CellContext`point, $CellContext`point, \
$CellContext`point, $CellContext`point}]], $CellContext`rotate = 
        Function[{$CellContext`pts, $CellContext`\[Theta]}, 
          Table[
           Dot[
            Part[$CellContext`pts, $CellContext`i], 
            $CellContext`rotationmatrix[$CellContext`\[Theta]]], \
{$CellContext`i, 1, 5}]], $CellContext`rotationmatrix[
          Pattern[$CellContext`\[Theta], 
           Blank[]]] = {{
           Cos[$CellContext`\[Theta]], 
           Sin[$CellContext`\[Theta]]}, {-Sin[$CellContext`\[Theta]], 
           Cos[$CellContext`\[Theta]]}}}; Typeset`initDone$$ = True),
     SynchronousInitialization->True,
     UndoTrackedVariables:>{Typeset`show$$, Typeset`bookmarkMode$$},
     UnsavedVariables:>{Typeset`initDone$$},
     UntrackedVariables:>{Typeset`size$$}], "Manipulate",
    Deployed->True,
    StripOnInput->False],
   Manipulate`InterpretManipulate[1]], InputForm]], "Input",
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$CellContext`leftJoystickY$$ = 
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     Typeset`bookmarkMode$$ = "Menu", Typeset`animator$$, Typeset`animvar$$ = 
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         Hold[$CellContext`leftJoystickY$$, \
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         Hold[$CellContext`leftJoystickX$$, \
$CellContext`leftJoystickX$48030$$, 0], 
         Hold[$CellContext`rightJoystickX$$, \
$CellContext`rightJoystickX$48031$$, 0]}, 
       "OtherVariables" :> {
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         Typeset`animator$$, Typeset`animvar$$, Typeset`name$$, 
         Typeset`specs$$, Typeset`size$$, Typeset`update$$, 
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       Module[{$CellContext`robot$ = Graphics[{
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             EdgeForm[Black], 
             
             Rectangle[{-$CellContext`robotWidth$$/
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               Style["Translation Vectors", Red], 
               Style["Rotation Vectors", Blue], 
               Style["Net Vectors", Purple], "Rotation Circle"}, Center], 
            AxesOrigin -> {{0, 0}, {0, 0}}, PlotRange -> {{-4, 4}, {-2.5, 3}},
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            0.3, $CellContext`robotLength$$/2 - 
            0.3}, $CellContext`topRightPoint$ = {$CellContext`robotWidth$$/2 - 
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             2 - 0.3, -$CellContext`robotLength$$/2 + 
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          Sqrt[($CellContext`robotWidth$$/2 - 
              0.3)^2 + ($CellContext`robotLength$$/2 - 
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{$CellContext`leftJoystickX$$, $CellContext`leftJoystickY$$}, \
$CellContext`rotationMagnitude$ = 
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$CellContext`topLeftRotation$ = {$CellContext`robotLength$$, \
$CellContext`robotWidth$$}, $CellContext`topRightRotation$ = \
{$CellContext`robotLength$$, -$CellContext`robotWidth$$}, \
$CellContext`bottomLeftRotation$ = {-$CellContext`robotLength$$, \
$CellContext`robotWidth$$}, $CellContext`bottomRightRotation$ = \
{-$CellContext`robotLength$$, -$CellContext`robotWidth$$}, $CellContext`\
\[Theta]TopLeft$ = $CellContext`checkIfDefined[Pi/2 + ArcTan[
              
              Part[{$CellContext`leftJoystickX$$, \
$CellContext`leftJoystickY$$} + \
$CellContext`scaleRotation[{$CellContext`robotLength$$, \
$CellContext`robotWidth$$}, $CellContext`rightJoystickX$$, 
                 
                 Sqrt[$CellContext`robotWidth$$^2 + \
$CellContext`robotLength$$^2]], 1], 
              
              Part[{$CellContext`leftJoystickX$$, \
$CellContext`leftJoystickY$$} + \
$CellContext`scaleRotation[{$CellContext`robotLength$$, \
$CellContext`robotWidth$$}, $CellContext`rightJoystickX$$, 
                 
                 Sqrt[$CellContext`robotWidth$$^2 + \
$CellContext`robotLength$$^2]], 
               2]]], $CellContext`\[Theta]TopRight$ = \
$CellContext`checkIfDefined[Pi/2 + ArcTan[
              
              Part[{$CellContext`leftJoystickX$$, \
$CellContext`leftJoystickY$$} + \
$CellContext`scaleRotation[{$CellContext`robotLength$$, \
-$CellContext`robotWidth$$}, $CellContext`rightJoystickX$$, 
                 
                 Sqrt[$CellContext`robotWidth$$^2 + \
$CellContext`robotLength$$^2]], 1], 
              
              Part[{$CellContext`leftJoystickX$$, \
$CellContext`leftJoystickY$$} + \
$CellContext`scaleRotation[{$CellContext`robotLength$$, \
-$CellContext`robotWidth$$}, $CellContext`rightJoystickX$$, 
                 
                 Sqrt[$CellContext`robotWidth$$^2 + \
$CellContext`robotLength$$^2]], 
               2]]], $CellContext`\[Theta]BottomLeft$ = \
$CellContext`checkIfDefined[Pi/2 + ArcTan[
              
              Part[{$CellContext`leftJoystickX$$, \
$CellContext`leftJoystickY$$} + \
$CellContext`scaleRotation[{-$CellContext`robotLength$$, \
$CellContext`robotWidth$$}, $CellContext`rightJoystickX$$, 
                 
                 Sqrt[$CellContext`robotWidth$$^2 + \
$CellContext`robotLength$$^2]], 1], 
              
              Part[{$CellContext`leftJoystickX$$, \
$CellContext`leftJoystickY$$} + \
$CellContext`scaleRotation[{-$CellContext`robotLength$$, \
$CellContext`robotWidth$$}, $CellContext`rightJoystickX$$, 
                 
                 Sqrt[$CellContext`robotWidth$$^2 + \
$CellContext`robotLength$$^2]], 
               2]]], $CellContext`\[Theta]BottomRight$ = \
$CellContext`checkIfDefined[Pi/2 + ArcTan[
              
              Part[{$CellContext`leftJoystickX$$, \
$CellContext`leftJoystickY$$} + \
$CellContext`scaleRotation[{-$CellContext`robotLength$$, \
-$CellContext`robotWidth$$}, $CellContext`rightJoystickX$$, 
                 
                 Sqrt[$CellContext`robotWidth$$^2 + \
$CellContext`robotLength$$^2]], 1], 
              
              Part[{$CellContext`leftJoystickX$$, \
$CellContext`leftJoystickY$$} + \
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-$CellContext`robotWidth$$}, $CellContext`rightJoystickX$$, 
                 
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$CellContext`robotLength$$^2]], 2]]]}, 
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          ListPlot[{$CellContext`topLeftPoint$, $CellContext`topRightPoint$, \
$CellContext`bottomLeftPoint$, $CellContext`bottomRightPoint$}, 
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          Graphics[{
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\[Theta]TopLeft$], Joined -> True, PlotStyle -> Opacity[0.75]], 
          ListPlot[
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$CellContext`\[Theta]TopRight$], Joined -> True, PlotStyle -> Opacity[0.75]], 
          ListPlot[
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$CellContext`\[Theta]BottomLeft$], Joined -> True, PlotStyle -> 
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          ListPlot[
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$CellContext`\[Theta]BottomRight$], Joined -> True, PlotStyle -> 
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            Arrow[{$CellContext`bottomLeftPoint$, \
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          Graphics[{Blue, 
            
            Arrow[{$CellContext`topLeftPoint$, $CellContext`topLeftPoint$ + \
$CellContext`scaleRotation[$CellContext`topLeftRotation$, \
$CellContext`rightJoystickX$$, $CellContext`rotationMagnitude$]}]}], 
          Graphics[{Blue, 
            
            Arrow[{$CellContext`topRightPoint$, $CellContext`topRightPoint$ + \
$CellContext`scaleRotation[$CellContext`topRightRotation$, \
$CellContext`rightJoystickX$$, $CellContext`rotationMagnitude$]}]}], 
          Graphics[{Blue, 
            
            Arrow[{$CellContext`bottomLeftPoint$, \
$CellContext`bottomLeftPoint$ + \
$CellContext`scaleRotation[$CellContext`bottomLeftRotation$, \
$CellContext`rightJoystickX$$, $CellContext`rotationMagnitude$]}]}], 
          Graphics[{Blue, 
            
            Arrow[{$CellContext`bottomRightPoint$, \
$CellContext`bottomRightPoint$ + \
$CellContext`scaleRotation[$CellContext`bottomRightRotation$, \
$CellContext`rightJoystickX$$, $CellContext`rotationMagnitude$]}]}], 
          Graphics[{Purple, 
            
            Arrow[{$CellContext`topLeftPoint$, $CellContext`topLeftPoint$ + \
$CellContext`translation$ + \
$CellContext`scaleRotation[$CellContext`topLeftRotation$, \
$CellContext`rightJoystickX$$, $CellContext`rotationMagnitude$]}]}], 
          Graphics[{Purple, 
            
            Arrow[{$CellContext`topRightPoint$, $CellContext`topRightPoint$ + \
$CellContext`translation$ + \
$CellContext`scaleRotation[$CellContext`topRightRotation$, \
$CellContext`rightJoystickX$$, $CellContext`rotationMagnitude$]}]}], 
          Graphics[{Purple, 
            
            Arrow[{$CellContext`bottomLeftPoint$, \
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$CellContext`rightJoystickX$$, $CellContext`rotationMagnitude$]}]}], 
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$CellContext`bottomRightPoint$ + $CellContext`translation$ + \
$CellContext`scaleRotation[$CellContext`bottomRightRotation$, \
$CellContext`rightJoystickX$$, $CellContext`rotationMagnitude$]}]}]]], 
       "Specifications" :> {{{$CellContext`robotWidth$$, 1.525, 
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     Initialization:>({$CellContext`checkIfDefined = 
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           Blank[]], 
          Pattern[$CellContext`x, 
           Blank[]], 
          Pattern[$CellContext`rotMag, 
           
           Blank[]]] = ($CellContext`rotVec \
$CellContext`x)/$CellContext`rotMag, $CellContext`getWheelPts = 
        Function[{$CellContext`point, $CellContext`\[Theta]}, 
          
          Module[{$CellContext`pts = {{-0.1, 0.23}, {0.1, 0.23}, {
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             0.23}}}, $CellContext`rotate[$CellContext`pts, $CellContext`\
\[Theta]] + {$CellContext`point, $CellContext`point, $CellContext`point, \
$CellContext`point, $CellContext`point}]], $CellContext`rotate = 
        Function[{$CellContext`pts, $CellContext`\[Theta]}, 
          Table[
           Dot[
            Part[$CellContext`pts, $CellContext`i], 
            $CellContext`rotationmatrix[$CellContext`\[Theta]]], \
{$CellContext`i, 1, 5}]], $CellContext`rotationmatrix[
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           Blank[]]] = {{
           Cos[$CellContext`\[Theta]], 
           Sin[$CellContext`\[Theta]]}, {-Sin[$CellContext`\[Theta]], 
           Cos[$CellContext`\[Theta]]}}}; Typeset`initDone$$ = True),
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     UndoTrackedVariables:>{Typeset`show$$, Typeset`bookmarkMode$$},
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    StripOnInput->False],
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