[big1boom]

This year was also our first year with a crab/swerve type drive.

We had the left stick controlling CIM power, and the right stick controlling various types of rotation.

If the driver pointed the right stick +45 degrees, all the wheels pointed to +45 degrees, etc (Translation)

However, if the driver pulled the trigger, and twisted the stick full right, then the front wheels pointed 45 right, the back pointed 45 left
If the driver twisted full left and pulled the trigger, the front pointed 45 degrees left, the back 45 degrees right. (Rotation)

With this, we were able to "Warthog" our drive system for turning



Make sure that you have quality sensors for your wheel rotation. If your program doesn't know where your wheels are, crab or swerve is going to be VERY hard on your driver.