Mecanum Tank drive

[Ether]

Originally Posted by Telthien

First, it should be noted that a mecanum drive system won't behave like a tank drive exactly. The behavior of mecanum wheels will prevent this; driving one side forward and the other forward with less power won't cause tank-like movement.

Yes it will, for a properly set-up mecanum drive.

To properly use a mecanum drive system, you need to express the heading as an angle and magnitude (in polar coordinates) as well as a rotational scalar.

You don't need to use polar coordinates. You can express the desired translational movement as X and Y components in a Cartesian coordinate system. In fact, those are the inputs expected by the mecanumDrive_Cartesian method in WPILib