[mschwab013]

Originally Posted by ekapalka

The problem we're having is that we can't strafe (and the x axis, y axis, and rotation are all mixed up). When we try to strafe, the robot simply spins the wheels towards or away from the central point of the robot (i.e the front two wheels spin inwards and the back two wheels spin inwards xor vice versa) and it stays in place or runs in circles. The rollers are arranged in an "X" pattern when viewed from the top.

I had a similar problem this past year while programming our mecanum drive. I fixed it by putting the axis' in this order: y axis, rotation, x axis.

The code looks like this:

stick_LeftY = stick->GetLeftY();
stick_LeftX = stick->GetLeftX();
stick_RightX = stick->GetRightX();

myRobot->MecanumDrive_Cartesian(stick_LeftY, stick_RightX, stick_LeftX);

I was using a logitech gamepad but I believe the principles would be the same for sending commands. I hope this helps! If you have any questions you can PM me. I've been working with mecanum for several years now and may be able to help