What type of drive train is the most maneuverable?

[efoote868]

the vector math is easier, and actually is just converting joy input to PWM values (4 lines of code)...

In a stroke of brilliance one of our programmers got rid of all the vectors... and explained "To go left, turn these wheels forward, those ones backward. To go right, turn these wheels backward, those ones forward. To go forward, all wheels go forward, backwards the same. To spin, turn these 2 forward, these 2 backward, and vice-versa" (as he pointed to our diagram).

now (like all other drives) the driver is thinking in terms of the robot, so they're the ones "doing the math".
The robot isn't remembering where it is, so theres fewer vectors involved.

If the robot did remember where it was, the coding would become absolutely atrocious.