[jvriezen]

Originally Posted by theprgramerdude

Controls aren't part of the drive code; they're the parameters that are passed into the drive code. What your programmers don't seem to understand is it's their code, not the WPILib code, that can be improved.

It's like saying even though the motor controller is already set to 100%, the code can be improved to set it to 110% via "better controls". That doesn't happen.

One relatively simple improvement you can make for mecanum drive is to add the option for 'field oriented' drive. Using a gyro, you can arrange the code to so that pushing the joystick forward *always* makes the bot move away from you, regardless of which way it is pointing. Moving stick right, the bot always moves directly to the right side wall of the field. This can make driving easier. Our bot last year allowed you to choose via a joystick button which type of drive mode you wanted.