Okay, wow....sirious headache!
Brining up this old post (if you can call 5 months old.....actually I can...

) 'cause someone mentioned in the NI forums the mechanum drive and I found this link and I'm interested in understanding the princepiles of working with mecanum in programming (not that I'm sure that my team will be using mecanum next year, but it's allways good to learn in any case).
From what I understand, you need 4 motors for each wheel (for a 4W drive), and by the look of an explantions given about one of the mecanum functions written in this post, by moving the left front and right rear wheels in one direction and the left rear and the right front in the opposite, the combination of the forces applied by the wheels will make the robot move on the mechanum wheels (the side ones that allow the "sliding")?
I find that kind of confusing...I actually thought you need an extra motor for each wheel in order to move the side wheels to do the slide...
If I can understand that, I'm pretty sure I can understand the algorithms written on how to determine the PWM given to the motors of the wheels.
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TEAM 2230 ZECHARIA'S ANGELS
2009 Microsoft Israel FRC Regional Winners!
2009 Microsoft Israel FRC Regional Chairman's Award Winners!!!
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2008 Microsoft Israel FRC Regional semi-finalist.
2008 Microsoft Israel FRC Regional Delphi's "Driving Tommorow's Technology" Award winner.
2008 Robot Driver
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2007 GM/Technion Israel FRC Regional semi-Finalist.
2007 GM/Technion Israel FRC Regional Xerox Creativity Award winner.
2007 Robot Driver.