[mobilegamer999]

I have helped many teams with base drive code and have encountered quite a few different drive types. The swerve drive that I worked with was 4 swerves, each with independent control, and I would say it was one of the more difficult ones to get working, fully functions, and non-wire-twisting.

Now, the code i have doesnt use PID loops, but rather 'manual' monitoring and speed adjustment of swerve modules based on current and target angles. That being said, had it not been in the heat of competition with the limited time for programming and annoyance of "its just code, whats so hard about it" (as im sure all programmers are used to), I would have taken the time to properly implement PID loops, correct stops, and more features. But what made it difficult and would make it similarly difficult in any build season is the tendency to get 'base functionality' working then add 'slightly more' over and over so you can get more testing done and get it more and more functional but have ugly and hard to manage code, instead of taking the time to properly write it with closed control loops after base functionality was working. The biggest issue was the time limitation we had on programming and had we had more time, maybe it might have been easier to work with.