Oh no, I'm not looking to strafe, I want to reverse power on motors. These codes makes sense, plus the thresh hold would then just stop the motors from running unless they're bigger than the thresh hold. I've seen thresh holds in my teammate's codes before, but never understood them, so thank you again. I think that's all.
But please explain the holonomic drive if you don't mind, it sounds like a possibility, I learned a lot already.