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Originally Posted by whcirobotics
The code that you have attached in the thumbnails > why does it only have 3 axis? I was told macanum drive or Holononic Drive has 4 axis?
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A 4-mecanum-wheel robot has 3 degrees of freedom: fwd/rev, strafe, and rotate. To obtain these 3 degrees of freedom, you have to issue coordinated commands to each of the 4 wheels
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And that code is enough? I thought it was more complicated...
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That code is enough. It is not complicated.
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But more important than the code provided.. can you explain me how they function. The logic behind it. I want to program it from my understanding and see if it works. If you could explain me the logic please. 
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This explains the kinematics (the "logic"). It shows a mathematical derivation of why you must drive each of the 4 wheels at a certain speed in order to obtain a desired vehicle motion.
This tells how to write your own mecanum code for 3-axis joystick or for two 2-axis joysticks. It includes constants for adjusting the sensitivity of each of the three degrees of freedom.