[David Bliss]

Here's my $.02, but be warned that we're still trouble-shooting this. I don't remember what the exact bugs are right now, but I do know it doesn't frisbee very well.

There are two halves to the trick you described (also called "frisbeeing", iirc). The first is indeed having field-oriented controls. Your other option is to precisely spin the strafing joystick opposite the way the bot is spinning. I don't have that coordination.

The second step is to be able to combine spin with driving properly. As of right now, my team's mecanum code determines the strafing speeds first, sets temp vars, and adjusts the temp vars for spin, then sets the PWMs to those temp vars. If you do this, you may need to reduce your spin adjustments in order for the spin to not totally override the strafing.

Good luck!