y x rx denominator runOpMode This function is executed when this Op Mode is selected from the Driver Station. {"commentPositionLeft":173,"commentPositionTop":-8} Reverse the right side motors. This may be wrong for your setup. If your robot moves backwards when commanded to go forwards, reverse the left side instead. frontRightMotorAsDcMotor Direction {"IDENTIFIER":"frontRightMotor"} REVERSE backRightMotorAsDcMotor Direction {"IDENTIFIER":"backRightMotor"} REVERSE WHILE Remember, Y stick value is reversed y NEG 9 gamepad1 LeftStickY {"IDENTIFIER":"gamepad1"} Factor to counteract imperfect strafing x MULTIPLY 1 gamepad1 LeftStickX {"IDENTIFIER":"gamepad1"} 1.1 rx gamepad1 RightStickX {"IDENTIFIER":"gamepad1"} Denominator is the largest motor power (absolute value) or 1. This ensures all powers maintain the same ratio, but only if one is outside of the range [-1, 1]. denominator MAX SUM ABS 9 y ABS 9 x ABS 9 rx 1 Make sure your ID's match your configuration frontLeftMotorAsDcMotor Power {"IDENTIFIER":"frontLeftMotor"} 1 DIVIDE 1 ADD 1 ADD 1 y 1 x 1 rx 1 denominator backLeftMotorAsDcMotor Power {"IDENTIFIER":"backLeftMotor"} 1 DIVIDE 1 ADD 1 MINUS 1 y 1 x 1 rx 1 denominator frontRightMotorAsDcMotor Power {"IDENTIFIER":"frontRightMotor"} 1 DIVIDE 1 MINUS 1 MINUS 1 y 1 x 1 rx 1 denominator backRightMotorAsDcMotor Power {"IDENTIFIER":"backRightMotor"} 1 DIVIDE 1 MINUS 1 ADD 1 y 1 x 1 rx 1 denominator