we had a swerve drive last year and for are prototype it had "doom mode"this was very hard to control. We later went to a one joy stick drive. (wherever you point the joy the robot will go in the direction) However the 2 joystick drive would be far easier to program the one joystick drive is nicer for the drivers. I have yet to learn all the tricks for the swerve program. I know right know though are code did include a huge arc tan table that was a pain to get.
