MecanumDrive_Cartesian rotate

[Micah Chetrit]

I have just a tad left in autonomous that I couldn't test before we shipped the bot off and I was wondering if a positive Rotate in MecanumDrive_Cartesian (X,Y,Rotate) function is clockwise rotation or counterclockwise rotation.
Thanks in advance

[AllenGregoryIV]

wheelSpeeds[MotorType.kFrontLeft_val] = xIn + yIn + rotation;
wheelSpeeds[MotorType.kFrontRight_val] = -xIn + yIn - rotation;
wheelSpeeds[MotorType.kRearLeft_val] = -xIn + yIn + rotation;
wheelSpeeds[MotorType.kRearRight_val] = xIn + yIn - rotation;

Positive should be clockwise. Left side will spin forward and right side will spin in reverse.

[Micah Chetrit]

thanks