[mikets]

No, if I had, I would have posted it. I probably would take some time to do this after the season. Too busy at the moment. I have an algorithm in mind, but I need to enter the algorithm into excel and make sure the numbers will go a round trip without problem. i.e. With a given set of magnitude, direction and rotation numbers, use the algorithm in MecanumDrive_Polar to calculate the four wheel speeds and then calculate a set of encoder distances with a given drive time, apply the reverse algorithm to the encoder distances that should give me a set of: magnitude of distance traveled, direction of distrance travel, rotation delta since start. If I divide it by drive time, I should get back a set of number corresponding to the original numbers. I probably got some aspects wrong. That's why I need to simulate that in excel to figure out the details of the reverse algorithm.