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Re: Swerve advice
My team is using mechanum wheels, and i am the driver so i might have some information. I dont know how similiar swerve and mechanum are, but when i saw your robot, it looked like it is possible for them to be configured the same way.
We have 2 joysticks, one which controlls forwards backwards and strafing, the other which controlls rotation. The only speed changing we have is when the trigger on the joystick was pressed, the robot would travel at half speed.
That config works for me, and it might work for you too.
Hope this helps, and sorry for the not-so-great grammar.
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