paper: 1625 Swerve Through the Ages

[Garrett.d.w]

Dillion,
your modules are amazing (a lot smaller than what my team used this year). We used a "hybrid" swerve system. We had four modules, the front and rear wheels were turned as sets using window motors. The front modules were populated with omni wheels, and the rear ones had traction wheels. This was to allow us to drive it like a tank robot, as we had very little time actually practicing with the robot in swerve mode. This resulted in a robot that was easy to drive, but yet had some curious turning/ strafing abilities.

I would like to ask you how you guys set up your controls (aka, which buttons did what). We had difficulties coming up with controls that were intuitive enough to be driven without thinking about what buttons to push (this is for "true swerve", without the omni wheels). If we can fix this problem in the offseason, I hope to convince the team that it is worth pursuing swerve drive this year (game allowing of course).

Thanks.