[Aren_Hill]

this year we used 1 single ch flightstick for all of our swerve functions. the joystick heading was translated in to degrees 0-360 and the amplitude from the center is how much power to the wheels. but to activate the drive wheels you have to pull the trigger which then allows passive resistance to sit still. then with the button on top puts the robot in "tank mode" which changes the front of our robot to the long side and allows us to drive around in 1-stick tank mode.