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Re: Mecanum programming (java if it maters)
I'll also mention that it's usually a good idea to initially test any drivetrain on blocks. In 2010 I think it was, we were doing mecanum for the first time, and using a 3-axis stick. We were confused as to why wheels where moving (seemingly full-tilt) when the stick was at neutral.
Turns out the axis at the base of the joystick was "twist" and "z" (I think), but the actual "twist" axis was called "throttle". So even if you think you know what you're doing, things can surprise you.
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