I would very much recommend using an xbox style controller setup like a first person shooter. It is very intuitive. Forward and strafe on one stick. Turn on the other.
We started with Bombsquad's code with the intention of writing our own. It worked so good, we never bothered. The only thing we did was throw out their crazy steering wheel. (no offense)
I would also not recommend spending too much time on a field centric system. Use that time for driver practice, and you'll have better results.
Here is our 2014 version of Bombsquad's swerve code:
https://github.com/FRC-Team-4143/TMW...ree/2014swerve
One last point when porting code from other robots: If your steering system just twitches like its having a seizure, the position feedback is probably inverted from the original robot.