[Dkt01]

I programmed a swerve drive with 1756 for Logomotion using LabVIEW. LabVIEW makes programming swerve fairly straightforward. I found basic implementation to be simple, but tuning the PID controls and finding miscellaneous bugs required significantly more time and effort. One word of advice: PID control loops in LabVIEW run differently when you are in the debugging mode. I noticed that the same values could result in unstable oscillations when in debug mode, but would provide good results in full deployments.
Good luck with your project. Swerve drive is a fun drive train to implement and play around with.