Strafing Problem

[Ether]

The OP has stopped posting so the following will be speculative.

IF his wheel directions look like the attachment, then -- and I really hate to suggest this -- he can fix the problem until he can clean up the code and make it right by making two small changes in the kinematic calculations in mecanumDrive_Cartesian() in RobotDrive.java:

		        double wheelSpeeds[] = new double[kMaxNumberOfMotors];
        wheelSpeeds[MotorType.kFrontLeft_val] = xIn + yIn + rotation;
        wheelSpeeds[MotorType.kFrontRight_val] = +xIn + yIn - rotation;
        wheelSpeeds[MotorType.kRearLeft_val] = -xIn + yIn + rotation;
        wheelSpeeds[MotorType.kRearRight_val] = -xIn + yIn - rotation;