Swerve Drive vs Mecanum Wheel drive?

[Ben Wolsieffer]

Originally Posted by Ether

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.

It's most unique aspect is that it could automatically correct its orientation when we were pushed or lost traction on a wheel, which made our system much easier to control than it would have been without it and it allowed us to travel in an absolutely straight line, unlike it the past where going sideways often went in an arc instead. This prevented us from needing to be so obsessive about weight distribution, because we could just let software fix our problems.