[Gdeaver]

Our team has done 4 wheel 360 rotation independent swerve also and loved looking at your drive at champs. Similar but different design. In the past we have used a least distance algorithm for steering. Sometimes it's quicker to rotate a short distance and reverse the drive motor. Do you do that in your code also? This year we eliminated the motor reversal part. We still check the shortest rotation direction. The bot seams to drive much smoother this year. How did your team handle the steering algorithm?
We do not have field centric control but are looking to add the gyro this coming year. In a match on average how long did the gyro go before errors added up to the point it affected driving? How many seconds before a zeroing was needed? Did you try any digital (I2C or SPI) gyro's or only analog?
One last question. What wheel angle sensor did you use. Do you feel it's accuracy and resolution are good enough or do you feel high resolution is needed. How many degrees of lash does the steering have. Our bansbot gear boxes have allot of lash. We haven't found another gear box solution that we can afford.