Arcade Mecanums

[dmitch]

I was wondering how you could code an arcade drive with mecanum wheels? Basically, we want forward on both to be forward, left on both to strafe left, and then forward on left back on right to be turn right, and vice versa for all of these.

I was thinking that for left and right, and front and back, you could half the joystick values and then add them, and feed the subsequent number to the x and y inputs on the mecanums vi. However, I am stumped on the rotation. Any helpo would be greatly appreciated thank you!