Why is swerve so slow?

[asid61]

Originally Posted by Jefferson

We are in 4-wheel (Ackermann?) steering that is NOT field-centric by default. In that mode we maintain a lot of our momentum because the turns are very smooth. When the driver needs to make a quick maneuver, he pulls (and holds) the trigger on the joystick to enable crab that IS field-centric from the orientation of the robot when the trigger was pulled. The driver has the x and y motion on one joystick and a twist motion on the other. When the trigger is released, the driver is back in 4-wheel steering mode.

That is so weird. Man, that must take a lot of practice to get used to!