Swerve drive 4, 2+2?

[hillale]

Team 1625's swerve drive this year has 4 wheel dependent steering, however the front and back sets of wheels are powered separately, 2 cims for the front, 2 cims for the back, through AM transmissions. For our first 2 regionals, if we found ourselves off orientation with the field, we'd have to stop, put it in tank drive (press a button, wheels turned sideways), and slowly turn to reorient. During our 2nd regional, for our 3rd regional, we developed "drift buttons" these buttons would cut power to either the front or the back gearbox so that we could reorient on the fly. It worked amazingly well once our drivers got used to the idea. There's just something cool about watching your bot come around the back corner off kilter and gradually straighten out on the fly to come into your homezone straight away.