[Dave McLaughlin]

We use the same type of 4x4x4 or "warthog" drive when we are swerving. We are using a three axis joystick and use x and y to translate or "crab" relative to the front of the robot. When we use the z axis, yawing on the joystick, the modules are oriented "warthog" style AND receive left-right differential power. We have found that this is quite effective.