[Gdeaver]

For programming start with Ether's paper on the kinematics of swerve. Several teams have published their code. You have to understand the mechanical and sensors to follow the code. Big choice is incremental with indexing or absolute encoders. Big difference in the steering algorithm. Also, your programmers must understand and embrace the principles of real time-- data flow methods. You will have a good bit of code running just for the swerve. For other mechanisms on the robot the the efficient execution of those blocks of code is critical. Your team should master a fundamental knowledge of state machines. We had problems our first year. Our swerve worked OK at home. Went to the finger lakes regional and had bad FMS lag. Our robot several times did what our team calls the happy dance. Steering goes wild. To me it looked like a grand mal seizure. We did not give up and have been driving forward ever since. Make sure your team is ready for problems and are ready to not hit a home run the first time. Are you willing and ready to make a long term commitment to perfect it? If not then basic tank drive what ever the wheel configuration can take you far.