Trajectory Drive for both swerve and mecanum drive

[Cothron Theiss]

Have you built, programmed and driven a Swerve in the past several off-seasons with your team? If the answer's no, then you should NOT attempt a Swerve drive for your first time in the build season. This is not a slight against your team's capabilities. This is just an observation that Swerve is one of the most difficult things to pull off in FRC, and it requires several years of designs and iterations and reiterations to get Swerve to the point where it's actually beneficial.

Also, in my not-so-humble opinion, mecanum is a waste of time. But that's for your team to decide.