Disadvantages of swerve/crab

[Ether]

Originally Posted by Akash Rastogi

Even with a full practice swerve to play with and program, we had only just started to figure out the best controls for the swerve WHILE in Atlanta that year.

In the above context, "the best controls" sounds like you are referring to the driver interface. What driver interface did you finally decide was the best for your team?

It is a HUGE learning curve for even the best programmers. (we had students and programming mentors working on it)... even with the mechanics pretty much figured out for us through COTS parts, the programming and sensory involved took a long long time to figure out.

Could you elaborate just a bit and list the top three (or whatever) things that made the learning curve huge and which took a long time to figure out? It might be helpful for other teams on the verge of making a similar decision.