Best way to control the mechanum wheels

[davidthefat]

First, before touching any code, write down everything on paper. Now I personally have no experience with mechanum drive, but I do have lots of experiences when the robot goes haywire because I used the wrong operation or something silly like that. Always double check before hitting "run".

I would say if the X axis (or what ever you are trying to control the strafing with) is past a certain point then switch to "strafing" mode. Then make the wheels rotate based on the x axis. Its quiet simple IMHO. I assume you would have the same code for the regular 4, 6, 8 wheel drive then tag on the strafing.