[Robby Unruh]

More than likely it's a problem in mecanumDrive_polar itself. I have heard some nasty things from other teams about it.

What I had to eventually do was program my own drive train (which works awful, but that's what the remainder of the season is for!) until we got a mecanum drive that suits our liking.

But before you go off and make your own, try getting rid of the Timer.delay(0.005); line. I don't know why you'd want to delay your operatorControl, as it would just make your robot move in little spurts.