How to add strafing to an arcade drive

[squiddy_slapper]

This should help a lot. It explains a lot about holonomic drives and it literally provides the exact code.

Wiki

Reserved for Mecanum wheels drivetrain wiki entry Code examples: A Holonomic drive is free to move in any direction without having to rotate around its axis. https://en.wikipedia.org/wiki/Holonomic_(robotics) One form consists of 3 or 4 omniwheels mounted at angles to each other. It is good for lateral movement, and increases speed and power of turns. However, linear drive speed and power are decreased since some or all of the powered wheels run at angles to the bot’s motion. All wheels m…