Mecanum Drive System Issues

[Alan Anderson]

Originally Posted by j.cole

I checked the wiring (polarities and PWM's) and nothing was wrong there.

Prove it.

Which PWM channel do you have going to each motor? I can't be absolutely certain, but your code seems to have it this way:

PWM1: front left (inverted)
PWM2: front right (inverted)
PWM3: rear left (not inverted)
PWM4: rear right (not inverted)

It's rather odd to have both front motors inverted and neither rear motor inverted. One typically sees only the right motors inverted, or occasionally only the left ones. The other common situation is for none of them to be inverted and have the compensation occur in the wiring.

It still looks to me like you have your front left and rear right motor controls swapped.