These models are the result of an experiment to see if we could improve the accuracy and speed of a swerve drive robot through an improved human interface.  

The wheel replaces the thumb stick on a standard X-Box Controller.  It snaps into the round opening in the upper housing, and interfaces with the potentiometer module underneath.  Once installed, the X and Y axes measured by the controller become sin functions of the wheel angle (90 degrees out of phase).