[TheMkrage]

Hi!
My team's off-season project was to build an H-Drive drive train. Our drive train is controlled by an XBox controller where the Y-Axis of the left joystick controls vertical movement, the X-Axis of the left joystick controls horizontal movement through the strafe wheel, and the X-Axis of the right joystick controls turning.
If you are attempting to use a single joystick, I suggest you use a three axis joystick. A two axis joystick with separate modes may work, but it prohibits some movements that are possible when using H-Drive. For example, with a two axis joystick, you could never strafe while moving forward or strafe while turning. You will never be able to move diagonally or turn while strafing with separate modes. A three axis joystick would allow you do this.
I also believe another aspect to take into account is how responsive the drivers can be with separate modes. Separate modes may require more practice to be used successfully because the driver has to remember which mode he or she is in. It is just another button to worry about when the driver already has enough on his or her mind. A three axis joystick would eliminate this problem.
Another thing to take into account when programming H-Drive is maintaining a constant angle when strafing. The point of strafing is to add horizontal movement without having to turn. Without code to fix for this, your robot will most likely arc when it is strafing. To eliminate this, I used a PID Loop (well a PD loop) that's main function was to keep the robot facing towards one angle. Of course this is only activated when you are strafing or moving forward and strafing (which would move you diagonally)

Hope this helped