[Iaquinto.Joe]

We're using robot centric mecanum drive for now. The mecanum cartesian algorithm allows you to switch pretty easily so for us it's just driver preference. I like field centric better myself because it reduces complexity for the driver. I always explain it like you're sitting on the robot and holding onto the controls. Push left, go left. Push forwards, go forwards. That's robot centric. Field centric is when you're behind the glass and your robot is facing due east. Push forwards, robot moves away. Push left, goes left according to your frame of reference. One less thing for the driver to handle if they don't have to project their frame of reference onto the bot. Robot centric is probably more reliable over time though.