This year we are working with a mecanum drive system. We have everything working peachy but the twist. When we twist the joystick, the robot moves in a completely random pattern. Forward, backward, and strafe are all fine.
To handle the operations we are using the Cartesian mecanum drive. For the twist we tried using
and
Using the GetTwist caused the robot to spaz out upon enabling. Using the GetZ seemed to be working but when twisting the robot acted like it was fighting against itself. At first I thought it may be interference from other joystick values, but I also called the mecanum Cartesian drive with no input besides a 1 for twist, which caused the same spastic behavior as using GetTwist.
Do you guys have any idea what the problem may be? At this point, we think it may be a mechanical issue.
...and then at the end they interviewed this 5 year old on his favorite part (of the fair): "I liked the robot" - Jessica Boucher [more] 
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