This year my team is thinking of using swerve drive for the first time. We are planning to use the ones off AndyMark since we can't make our own.
http://andymark.biz/swervemodules.html
However, since this will be our first time (if we use it), I don't know much about how to program it. I would appreciate help in knowing if I need to get any other sensors for it. Additionally (and the main reason I'm posting it here), I would like some help in figuring out how to program it in Java/C++.
I would like sample code if you can provide, as well as different ways I can implant the driving while trying to keep it simple enough that the drivers can figure out how to drive it.
Thanks.