[efoote868]

Grab a sheet of paper and a writing utensil, hook up your controller to the robot's controller, and use labview to output all inputs to the screen. Write down what inputs are where.

For mecanum drive, we have always found its best to separate twist from your cardinal directions, make it the x-axis of a separate joystick. Some 3-axis joysticks have a tendency to twist while moving any other direction.

Another thing you should seriously consider doing with mecanum drive is field-centric positioning with a gyro. It takes a little extra trigonometry, a little extra debugging, but it makes driving the robot SO much easier. In my experience, anyone could drive this type of robot without any training at all, and do it very well. I'd like to think 868's success last year was in part due to this.

Let us know if you need help getting set up with that, I may have my old tutorials lying around.