This year, our team used swerve drive. Our team uses LabVIEW, but I recently wrote a swerve simulator/game in Java using LibGDX.
I got the idea from Team Pwnage's game, which can be found
here.
Here's the link for our game:
http://applepi.tk/swerve
Here are the controls:
The harvester has to be down before you can shoot.
The calculations have some improvements from the code we used on the actual robot, like the ability to rotate around any point, not just the center. (This is what I, J, K, L keys are for)
I didn't spend too much time on the ball physics, so they're a bit weird. I'm planning on refining them, and then adding more features, like other robots on the field and USB controller support.