[DarkRune]

We had two separate control methods for our robot this year. We were running an octocanum drive train.
we had two buttons for switching all 4 wheels sets between traction and mecanum. Top button was mecanum, bottom was traction.
Two buttons to deploy the back two traction wheels only when we drove up onto the platform. This leveled us off with the ground and helped with scoring.
Traction wheels were driven in tank
Mecanum was driven in a split arcade. Left joystick had forward/backward, left/right. Right joystick had turning.
I can elaborate more if you have any other questions.