There's conflicting information on these documents. The "Derivation - Inverse Kinematics for Swerve" pdf says that the calculation of A, B, C, and D is:

`A = STR - RCW * L/2`

B = STR + RCW * L/2

C = STR - RCW * W/2

D = STR + RCW * W/2

, but the "Calculate Swerve Wheel Speeds and Steering Angles" pdf says it's:

`A = STR - RCW * L/R`

B = STR + RCW * L/R

C = STR - RCW * W/R

D = STR + RCW * W/R

My own calculations and math agree with the 1st pdf. I can upload a picture of my work if you'd like.

Anyone testing the swerve calculator on the spreadsheet will have to change the formulas for A, B, C, and D as they use the 2nd pdf's formulas.

Maybe someone should post on ChiefDelphi to ask about this conflict?