[Tom Line]

We're strongly considering doing an off-season swerve/crab drive this year.

We have some questions about the programming as well. Namely:

Does your joystick relate to the field, or to the robot? For instance, if you push to the left with your "crab" joystick, does your robot go to it's left, or does it go to the left on the field?

If it goes to the left on the field, I assume you're using a gyro to keep track of absolute angular orientation versus the field: do you have any problems with collisions throwing your gyro readings off?

Thanks!