Programming Mecanum

[BradAMiller]

Code for doing Mecanum with joysticks looks like this:

myRobotDrive.mecanumDrive_Cartesian(joy1.getX(), joy1.getY(), joy1.getTwist());

Optionally you can put the angle from a gyro in as the optional 4th parameter.

One possible problem is that some of the motors may need to be inverted depending on how they are configured. To determine that, put the robot on blocks and drive it with the joysticks and see what it is doing. You can call the

setInvertedMotor()

method on the side that is going in the wrong direction.