[Whippet]

Originally Posted by idahorobot

Do you or the community have some code sample to illustrate this?

/* 
 * This is the experimental code for the 2015 robot.  DO NOT USE FOR COMPETITION!  
 * All code that is useful will be in  a separate project.
 */
package org.usfirst.frc.team4301.robot;


import edu.wpi.first.wpilibj.SampleRobot;
import edu.wpi.first.wpilibj.RobotDrive;
import edu.wpi.first.wpilibj.Joystick;
import edu.wpi.first.wpilibj.Timer;
import edu.wpi.first.wpilibj.Gyro;



public class Robot extends SampleRobot {
    RobotDrive myRobot;
    Joystick DriverStick;
    Joystick OperatorStick;
    Gyro gyro;

    public Robot() {
        myRobot = new RobotDrive(0, 1, 2, 3);
        myRobot.setExpiration(0.1);
        DriverStick = new Joystick(0);
        gyro = new Gyro(0);
    }

    /**
     * Drive left & right motors for 2 seconds then stop
     */
    public void autonomous() {        
    }

    public void operatorControl() {
        myRobot.setSafetyEnabled(true);
        while (isOperatorControl() && isEnabled()) {
        	//set x, y, and z values
        	double x = DriverStick.getX();
        	double y = DriverStick.getY();
        	double z = DriverStick.getZ();
            myRobot.mecanumDrive_Cartesian(x, y, z, gyro.getAngle());
            if(DriverStick.getTrigger() == true) {
            	gyro.reset();
            }
            Timer.delay(0.005);		// wait for a motor update time
            
        }
    }

    /**
     * Runs during test mode
     */
    public void test() {
    }
}

I have bolded the lines to pay attention to. Replace "4301" and all team-related items with your own code.