Binny, the Trashcan Robot

This code is for binny, the trash can robot. For the project we decided to go with a non-traditional holonomic drive, which required some Trigonometry in order to get working.

            
           --===--
          /       \
         /         \
        /           \
       \\___________//
   Bad Diagram of the Drive Train
    

Explanation of Math for Drivetrain:

Uh... it just works.