Mechanum wheel programming in C++

[mikets]

The WPI library provides the RobotDrive object that includes a method:

void RobotDrive::MecanumDrive_Polar(float magnitude, float direction, float rotation)

You can call this method to drive the mechanum wheels. It is using polar coordinate system where you specify the magnitude and direction you want to go. Rotation will specify the heading you want the robot to face.

To calculate the magnitude and direction from joystick reading, you can do:

MecanumDrive_Polar(joystick->GetMagnitude(), joystick->GetDirectionDegrees(), 0.0);