Controlling the individual speed of mecanum wheels within the main programme

[ekapalka]

Hello! We're on our third day of of four day "build season", and are almost ready to test drive. I've been reading about mecanum wheels here for a while, and am starting to worry that our motors may not be capable of spinning synchronously (well, we haven't tested yet, but it seems to happen to a lot of other people). We're using C++, and I don't currently have one of the developer laptops with the programming environment and WPI source to use as a reference. What I was hoping we could do was to drag the entire Mecanum_Cartesian method out of WPI and insert it into a method below the periodic portion of our code so we could easily manipulate the individual motor values to get the correct speeds (and so that we can see the math involved instead of putting all our faith in the library). Could someone give me some direction? Thanks!