In this episode, we go over the basics of a drivetrain. By the end of this episode, you will be able to control a basic tank-style drivetrain using an Xbox controller.
Link to the code: https://github.com/prateekma/FRCProgrammingShow
Some alternative techniques and implementations: https://wpilib.screenstepslive.com/s/currentCS/m/java/l/914148-driving-a-robot-using-differential-drive
Thread on swerve drive programming: https://www.chiefdelphi.com/forums/showthread.php?t=158372