[pbrules15]

We are trying to write some code in easy c pro to control our mechanum wheels. I have seen the code from team 40 and it is does not do what we want it to do. Each mechanum wheel has its own drive motor and we are controlling them with 2 joysticks in the tank format. We would like to have our x axis of our joysticks control the movement left to right with the mechanum wheels (move both joysticks left, straif left. Move both joysticks right, straif right).

Here is the problem, I have written the code to control it in tank setup, and I have written code to control the straif setup. Independently, the two work fine, but I cannot figure out how to join them together. When combining the two, the robot spazzes out all the motors at once. I can still control the robot but it is not smooth at all.

My code is attached. Please help.

Thank you