[cjl2625]

Why didn't you guys try field centric control?
I can't think of any reasons not to, aside from handling gyro drift. But especially with a bit of driver practice, I find it to be pretty manageable to deal with.

Also how does the driver change the center of rotation during a match?
I recently wrote some code to change the rotation point, but I don't really know how to elegantly integrate it in the driver controls.