[PredaFran]

As a C++ programmer, this is my first year programming with motors,encoders,the roboRio,etc. and my Team has been developing a swerve drive off-season,and my experience is not helping me with it, so i have been doing a lot of research about it, looking for templates,basics but i still cant manage to do it, so i came here to ask help, suggestions, tips. Everything that can help me


Info about the swerve drive: (attached an image)
*4 motors will be linked using chains, in groups, left(upper and lower) and right(upper and lower)
* it will only be able to rotate 180° to the lafet and 180° to the right
* we are still deciding if we are going to use the CANTalons or Victors

All suggestion are accepte
Thanks