[GeeTwo]

I skipped the research when I realized that all of the square roots and trig functions canceled out, and the mapping was pretty straightforward. To map rotation about a point x_r, y_r at angular speed w_r (measured in radians/second, with rotation from the positive x axis towards the positive y axis being a positive angular speed) to translation speed v_x,v_y and rotation w₀:

w₀ = w_r
v_x = w y_r
v_y = -w x_r

you can use this same preliminary mapping to make a mecanum drive rotate around a desired point.

For conversion purposes, 1 radian per second is 30/pi ~ 9.55 rpm.

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Using the WPIlib convention for your coordinate system (+x to the right, +y forward, rotations clockwise as viewed from above), your angular speeds will be reversed from this, and you will need to use:

w₀ = w_r
v_x = -w y_r
v_y = w x_r