Programming for Mecanum Wheel Chassis

[yank]

Hello,

My team is trying out mecanum wheels (AndyMark 4 inch diameter) on our robot for FTC Velocity Vortex. Driving forwards, backwards, and turning works fine, however, we are not able to strafe sideways.

When we press the gamepad A button or the gamepad B button (our strafe controls), the robot moves in random directions, although occasionally it does strafe properly for a few seconds (which probably rules out any mechanical reasons for failure).

N.B.: "Bot" is a public class (please see bot.java); FL, FR, BL, BR refer to motors that power mecanum wheels (front-left, front-right, back-left, back-right respectively)

We suspect that using the "Bot" class causes problems, though we are not completely sure why or if that is true at all.

We would greatly appreciate any advice on this matter. I've posted links to our code below:

Teleop program
Direction (enum)
Bot.java

Thank you very much.