Short answer: Swerve drive with 4 independently controlled wheels.
Long answer: Swerve drive with 4 independently controlled wheels
that have a limited range of motion. This forces the programmer to limit how the wheels will be pointed as to not tear out the wires leading to the motor powering the wheel (CIM motor in most cases.) It also requires the wheels taking a specific path in order to do this. This path is not necessarily the shortest and most direct, but it should be no more than 180 degrees of travel. An example of this is the attached picture, a portion of team 2421's creation this year. If someone wants to see the code for it, it is available
here. Feel free to PM me with any questions you may have