Mecanum wheels c++

This year my team got a second robot and put mecanum wheels on it so the programers could do some testing. Guess who that programers is…me. I have looked in many forums and CD posts about doing it. We are planing on using two-two axis joysticks. If I remember right that means we have to use holonomic drive, right? If so we need to add rotation magnitue and direction. Everything I have read has all these formulas, which I can mostly understand, my problem is the implimentation to the code. You need to float rotation, magnitude, direction. I get what all of those do but I don’t get how. I need help on what to code. Any help is appreciated!:smiley:

Please refer to this thread.