Mecanum Problems

[captainking]

Hey guys, we're trying to program mecanum this year using the polar form but we're having some troubles.

For magnitude we are taking the x and y values of the joystick and using the pythagorean theorem

For direction we are taking the y value and dividing by the x value, taking the arctangent, and then multiplying by 180/pi in order to get the answer in degrees.

for rotation we are using the rotation axis off of our 3 axis controller.



For some reason, when we enable the robot, the motors all recieve full forward PWM values without us touching the controller.

We've checked the wiring and it's fine, and the only thing affecting the motors is the holonomic drive function.

Any ideas?