pub fn mecanum_ik(vx: f32, vy: f32, omega: f32) -> [f32; 4]Expand description
Compute per-wheel speeds from body-frame velocity commands.
Returns [front_left, front_right, rear_left, rear_right], each in -1.0..1.0.
If any raw speed exceeds 1.0, all four are scaled down proportionally to
preserve the commanded direction.