[Tyler2517]

We ended up not running the thrust bearing on the top of the bevel gear due to running out of time there was a lot of wear on the top swerve yoke. I would have preferred to use one.

We use a standard ps2 controller and the bumpers on each side would correspond to a corner. To change we would press down on the button and as long as you were holding down it would be using said corner as the point of rotation using the left stick to move.
We did not have the experiences to start the coding on field central drive when we started to build and program. When we did get it it was to hard for the drivers to switch to with our getting a few mess ups our code also seemed very slow as we could conserve more momentum using the robot central control.