How To Program A Kiwi Drive (triangle drive)

Hello. I’ve been considering unique omni-directional drivetrains, and I came upon the Kiwi drive, which I find both cool and intriguing. But how would you go about programming one to act like an h-drive, instead of being a 3 direction drive? Kiwi Drive Bot - YouTube

You can do the trig yourself, but there are standard equations online

This seems like decent source