Driver-controlled swerve drive

[WebCoder49]

Type	Driver-Controlled
Input	Joystick values
Sensors	Swerve drivetrain encoder positions (optional extension), IMU readings (optional extension)
Output	Swerve drive motor powers
Hardware	We are using REV MAXSwerve modules for the drivetrain, and a NavX2 MXP IMU.
Team	@brightonfrc/team-4

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[WebCoder49]

Although not vital, the sensors here could help you ensure your driving is straight and turns enough. Additionally, is your drive direction going to be relative to the robot, or global relative to the field?

[ethanharjabrata]

Would it be easier if the robot was field-oriented?