[Fletch1373]

Originally Posted by Unforgiven_Hero

Okay so here is where I stand, don't have a chance to test it on the practice bot today but will tomorrow. Anyone got any advice on the program and is there anything essential I should add or do to this program? Not totally sure how to do the twist part for the Mecanum wheels using an Attack3 joystick...

Here it is:

You require the second joystick because each Attack3 only has 2 axes, but you need 3. So you will use the X- and Y-axis of Attack1 for moving straight(front/back and sideways), and the X-axis of Attack2 to do rotation. the getTwist method does nothing with Attack3 joysticks because they don't have the 3rd(or Twist) axis.

	void OperatorControl(void)
	{
		GetWatchdog().SetEnabled(true);
		drive->SetSafetyEnabled(true);
		while (IsOperatorControl())
		{
			drive->MecanumDrive_Cartesian(Attack1->GetX(),Attack1->GetY(),Attack2->GetX());
			Wait(0.005);				
		}
	}