These are the important parts to get started. We don't have a chassis yet, but we wired up 4 Jaguars and 4 motors and the motors move as they should:
Code:
RobotDrive *mecanumDrive;
Joystick *Attack3Joystick;
...
mecanumDrive = new RobotDrive(1, 2, 3, 4); // frontLeft, rearLeft, frontRight, rearRight
Attack3Joystick = new Joystick(1);
...
mecanumDrive->HolonomicDrive(Attack3Joystick->GetMagnitude(), Attack3Joystick->GetDirectionDegrees(), Attack3Joystick->GetTwist());
The kit of parts joysticks don't have a twist handle so I didn't test the twist (rotation).