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Originally Posted by JamesTerm
The other half will be the reverse of that where given the wheel angles and speeds, what is the current x, y and rotational (i.e. angular) velocities.
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That is called the Forward Kinematic Problem, and for swerve it has no kinematic solution for arbitrarily chosen values of the wheel speeds and angles. See the discussion starting at the bottom of Page7 of
this paper.
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For now let's ditch the tank steering 2 joysticks except to say that it can be done. I think FWD and RCW can be on one joystick where left and right perform the rotation (I believe this is called arcade drive)... Just this much is what we had this season on a WCD, and it felt intuitive (we played defense). Now add to this some strafe buttons (and not another axis).
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See the list of driver interface suggestions on Page 1 of
this paper.