//Override SidePanelController to provide a custom hamburger menu icon
class MySidePanelController: SidePanelController {
  override func leftButton() -> UIButton {
    let frame = CGRectMake(0, 0, 20, 20)
    let button = UIButton(frame: frame)
    button.setImage(UIImage(named: "menu"), forState: .Normal)
    return button
  }
}

//Initialise SidePanelController - AppDelegate.swift
var sidePanelController: SidePanelController?
var mainVC1: UINavigationController?
var mainVC2: UINavigationController?

func application(application: UIApplication, didFinishLaunchingWithOptions launchOptions: [NSObject: AnyObject]?) -> Bool {
  ....
  let mainVC1 = MainViewController()
  let sc = SideController()
  let sidePanelController = MySidePanelController(sideController: sc)
  sidePanelController.selectedViewController = mainVC1

  self.window = UIWindow(frame: UIScreen.mainScreen().bounds)
  self.window?.rootViewController = svc
  self.window?.makeKeyAndVisible()
  self.sidePanelController = sidePanelController
  ....
}

//Handle navigation from SideController - SideViewController.swift
class SideViewController: UITableViewController {
override func tableView(tableView: UITableView, didSelectRowAtIndexPath indexPath: NSIndexPath) {
    if let appDelegate = UIApplication.sharedApplication().delegate as? AppDelegate {
      let vc = indexPath.row == 0 ? appDelegate.mainVC1 : appDelegate.mainVC2
      appDelegate.sidePanelController?.selectedViewController = vc
    }
  }
}