Holonomic Drive Example?

[I am error]

There should be a picture attached of our FAILING holonomic drive example. There is a boolean that leads into the case statement you see there. This is so we can have a false case where the robot flips out (as a test) and then the true case that is our actual program. The inputs are just constants in the false case, but not in the true case shown below. The robot will drive in circles when I tell it too (the false case), but when set up like below, it doesn't work. Why is this? Does it have to do with the scalar input? Please help!