[u2fletch]

Okay, so broke down and used RobotBuilder to build a sample robot. 4 motor config with a single Sidewinder3D joystick. Here is the code for the Drivetrain class:

public void takeJoyStickInput(Joystick joy){
robotDrive41.mecanumDrive_Cartesian(joy.getRawAxis (1),joy.getRawAxis(2),joy.getRawAxis(0),0);
}

Needed to use the getRawAxis() function to map the axes properly on the Sidewinder, but the problem is that the FRCSim robot drives just like tankdrive. Fore-aft joystick moves as expected, twist rotates the robot, but left-right joystick just gives you forward and back just like the fore-aft.

The RobotBuilder says it supports holonomic drive under the 4 motor controller, so I am wondering if FRCSim does NOT model that type of drive?