Who is using swerve for aerial assist and why

[page2067]

I have a question for swerve users this year:

I am interested in how many swerve users this year are 1) 4 wheel independent or not, and 2 ) how many are field-centric (using a gyro) or not and 3) and if 4 wheel independent: use 4 PID's (for steering) vs. 8 PID's (for steering and speed control), or other?

For us (2067, Apple Pi) we are 4 wheel independent, and field-centric and use only 4 PIDs finding that similar to when we used Meccanum in 2011 that careful mechanical set-up mitigates the need for speed control. We have been quite pleased with this set up so far. Though have run into issues of gyro (KOP) failure after strong hits (g-forces) (are there better Gyros that can take more g forces?) - this has not been an issue before this year - likely a reflection on the level of robot interaction this year vs. past few, any suggestions on improvements there (gyro's) are welcome.

Though we also believe that without field-centric steering, swerve drive does not buy itself in, however we know that teams we admire have different views that we would like to understand better.

For those interested in driver control preferences our driver prefers a 2 joystick set up with strafe on a KOP Logitech joystick in his left hand and a Logitech Extreme twist stick in his right hand for rotation control.

Also I am surprised, that at least on this thread, it would appear that fewer than 20 teams (<0.1%) have swerve?