[fritzdejongh]

I'd like to ask this question on swerve drives: From what I've read, they typically don't have completely independent control of all 4 wheels, and perhaps there are choices and trade-offs on how exactly to control them and how many motors to devote to steering. How smoothly do they end up turning in place or making a tight turn for example? Does this involve wheels slipping? What is the experience on what level of control is helpful?

My experience with Mecanum is that it can turn an average-resource team into a competent scorer and move them up to seeded range, at least for Breakaway. With the included holonomic, gyro, and PID VIs programming is easy, and implementing field-oriented steering and gyro stabilization is also easy.