[DonRotolo]

A swerve drive is the most challenging kind of drive to implement. You might want to consider that if you've never done it before.

Here's a hint on the programming: Use polar coordinates for your joystick inputs. The direction of the joystick determines the direction of motion for the robot; the distance from the center 'neutral' position determines the magnitude of the motor speed.

Easy to drive, very intuitive. Programming, not so easy.