Swerve drive with automatic rotation?

[The Analog]

Team 79 has always done this with our swerve drives (03,04,05,11). In years past we used modules with the drive motor attached, and the front and rear were steered separately. This year we have a coaxial design, each wheel is driven independently, and the front and rear are steered separately. we only use one stick to drive, but have different driving modes.

Crab Mode: standard Crab driving, robot translates in any direction while maintaining the robotics original orientation.

Power Caster: rear wheels rotate 90 degrees, while front stay straight. works similarly to car drive

Hurricane/Tank: standard tank drive, allows robot to rotate along its center axis.

all driving modes use a gyro and accelerometer. I'm mechanical and don't fully understand it, but I can put you in contact with someone who does.