[Ether]

Originally Posted by WillNess

should I set the fourth variable to my Gyro Angle or to 0?

As explained in earlier posts in this thread, passing the gyro angle to the fourth parameter gives you field-centric control. You said that's not what you want.

Originally Posted by Ether

What you described above will make the driver interface field-centric

Originally Posted by GeeTwo

Do not use the fourth "gyroscope" input to MecanumDrive_cartesian; this is only used for "field coordinates".

See the note "Optional Input for field-centric control of XY motion" in the code diagram linked in this post:

Originally Posted by Ether

if your goal is to make the bot drive straight when the driver is commanding zero rotation, you could do something like this:

http://www.chiefdelphi.com/forums/at...4&d=1420598437