[cheezburger]

My team is switching to Java this year and we want a holonomic drive system.

Not quite sure how to program it. When we tried to use the holonomicDrive method, Netbeans gave us a slew of errors, the most common of which was that

"holonomicDrive(float, float, float) is not public in edu.wpi.first.wpilibj.RobotDrive; cannot be accesed from outside package."

This is the code we have:

public void operatorControl() {
while (true && isOperatorControl() && isEnabled()) // loop until change
{
drive.holonomicDrive(leftStick.getDirectionDegrees (), leftStick.getMagnitude(), rightStick.getX(GenericHID.Hand.kRight));
Timer.delay(0.005);
}
}

I'm open to help in fixing holonomicDrive or to help in making a holonomic from scratch, as long as it works. The place I got the current code from said it was not tested code. I'd like code that has been known to work.