Holonomic Drive System Issues, Robot Drives Diagonally...

[AllenGregoryIV]

I would say that it is not a problem with the code that you posted here.

It may be a problem with cRIO or the electronics. (Have you updated your cRIO image to the one that was released this week?)

Also you may want to try using mecanumDrive_Cartesian(giving x and y axis instead of magnitude and direction) instead of polar and see if that works better for you.

Have you tested on blocks and seen which wheels spin when you move each joystick axis? When you move the joysticks, do all four wheels ever spin? If you apply full power forward do your Jaguars light up in the way they are supposed to? (two red and two green most likely)

If you are still having this problem at Alamo(I hope you resolve it by than), I'll try and stop by your pit and see what we can do.