[Tom Line]

Field centric is something I want to work toward, but first I want to firmly define in my mind what our end objectives for maneuvering should be.

We are going to go 4 modules, in 2 pairs. My thought is similar to a post from wild stangs: when the wheels are within 30 degrees of making the robot a wide configuration robot, the rotational joystick will simply modify the wheel speed and the robot will tank turn.

Once the robot is diagonal to the direction of translation, you can no longer rotate. This is because wheels at the left and right corners will oppose eachother. Again: I'm looking at the situation where you have left and right side coupled modules.

See attached picture and tell me if my thinking is correct or there is some shortcut to work around the directions that you cannot rotate.