[Tyler2517]

I will take a video tonight when we have our robot our of the bag of how it drives under different controls. With the rotation on the second stick of the X-box controller you can use it to decide how fast you spin(spinning at full power is fun to watch but should never be needed). With fancy math (im not a programmer i just drive and check math) you can do circle strafing and intergreat the 2 sticks. You can pm me and i can get you in contact with our programmer about the algorithms and the set up better then i can.

If you plan on building a swerve its going to take time to get use to no matter what. You want your driver to be drive it like a swerve not like a tank drive. If you drive it like a tank drive then you are wasting a lot of resources.

We use the side bumpers on our controler to change where the center of rotation is. (the drive in its default state rotates in the dead center of the robot) We can change the center of rotation to any of the 4 corners so we can role out of a pushing match's using the other robots force to get us up to speed faster. We have been writing code for about 8 months for the swerve's and we have yet to do half the things we want.