[BradAMiller]

Originally Posted by Robototes2412

the holoNomic Drive function wont let my robot go forwards

It's designed for 4 macanum wheels toed in 45 degrees. Is that what you have?

Here are the comments for the holonomicDrive method:

    /**
     * Holonomic drive class for Mecanum wheeled robots.
     *
     * Experimental class for driving with Mecanum wheeled robots. There are 4 wheels
     * on the robot, arranged so that the front and back wheels are toed in 45 degrees.
     *
     * For holonomic drive with omni-wheels, the rotation value will need to be
     * offset based on the drive configuration.
     *
     * @param magnitude The speed that the robot should drive in a given direction.
     * @param direction The direction the robot should drive in degrees. The direction and maginitute are
     * independent of the rotation rate.
     * @param rotation The rate of rotation for the robot that is completely independent of
     * the magnitute or direction.
     */