WCD vs. Swerve

[Gdeaver]

Driver presentation. May be some who have actually driven a swerve will comment. We have a 4 wheel drive 4 wheel steering bot. We have used a x-box and 2 kop joy sticks. Also, we tried a joystick with twist but, the drivers hatted the twist for chassis orientation. So how do you control the 4 degrees of freedom required for swerve driving. X, Y, Chassis orientation, and velocity.
We have always used the left joy stick for x-y and extrapolate velocity from it. The right joy stick x mixes in chassis rotation. This is what the programers and drivers ended up with. I feel that after watching our driving the last 2 years there is a major problem with this choice. Our drivers can make the bot dance on our practice field with no pressure. Under pressure at a comp I see the driving deteriorate. I believe their left hand or thumb coordination is being overloaded. What have other teams used. I believe the extrapolated velocity is the problem. For a short time in the 2010 off season we had the X - Y on the left X-box controller joy stick. Velocity on the right joystick x and chassis orientation on the analog triggers. I liked it. The programmer graduated and the code disappeared. We went back to the above described method. So what is the best driver presentation. Arguments welcomed.