Holonomic Control System

[SudoSammich]

For the first time our team is experimenting with holonomic drive (4 omnis placed at 45 degree angles relative to the frame) and it has fallen to me to code the movement. I have a system in place, but it came to my attention after the initial code was written that different people have different opinions as to how the joystick movements should coorelate to robot movement. As such I'm reaching out to teams who have done this in the past...how'd you guys do it?

At the moment we've got a two joystick design. One stick changes position but not orientation. The robot maintains "front" while moving in whatever direction the joystick tells it to. The second stick controls spin while maintaining position (they won't mix at the moment). This was the first control method that came to mind for me since it allows us to make use of all three degrees of freedom to the greatest extent, but our coach believes that it won't be natural after our years of straight drivetrains.

The other suggested method of control is one sticck that drives much as arcade has in the past, but accompanied by a second stick for strafing to take advantage of our added range of motion. Our coach thinks this will be more natural as a transition, but I don't think it has the same potential since we won't be able to strafe will moving forward.

So for teams who've been successful in the past, how did yours move? Did you find any particular strengths or weaknesses in the control system? Features you wished you'd had? Thanks in advance for the help!