Hello, and welcome to ChiefDelphi
. I'll get you started by pointing you to the CD-Media link above the orange bar near the top of the page. If you click that, you can search the myriad whitepapers for this type of code. Search for "holonomic", "omni drive", etc. I know Ether and several others have posted pseudo code for many variants of sensor feedback (including no sensor feedback), so that should get you started.