[rjmah]

Originally Posted by thinker&planner

The trick was averaging in the strafing at the same time, which our amazing programmer had a true "Eureka!" moment when she figured it out. Her method provides a more "natural" way (if you naturally like tank-style controls) for mecanum the full mobility of mecanum still retained.

I'll try to find the algorithm and put it here soon.

I meant to say arcade until the stick gets to 45 degrees. I'm pretty sure our programmer just used a linear proportion to give the driver strafe "steering". As you know, sideways steering is pretty inexact anyway.