Swerve Drive vs Mecanum Wheel drive?

[Ether]

Originally Posted by lopsided98

This year though, I implemented a really cool (in my and the judges' opinions [we won the Innovation in Control Award for it at two districts]) field oriented drive mode that we use exclusively. I read about the idea on CD and decided to implement it early in the build season

Is there something unique about the way you did it?

Field oriented control has been around for a number of years. It's built-in to LabVIEW and WPILib for Java and C.