[F22Rapture]

Our team would like to be able to switch between control schemes (for the drivetrain) as a way to easily find out what our potential drivers are most comfortable with. There's also potential situations on the field where we might want to switch to tank for a maneuver with the push or click of a button. The problem is, I really have no idea how to translate this into code. Some of the stuff is obvious, such as using a SendableChooser, but the rest is questionable. I have a few ideas, but no way to test them since our cRIO died and we're awaiting a replacement.

We're using command-based, fyi.

To the teams that have done this before: how did you do it?
And to people who haven't: what do you feel is the best way to accomplish this?