MecanumWheelsMoving.java

while (opModeIsActive()) {
    float x1 = gamepad1.right_stick_x, y1 = -gamepad1.right_stick_y;
    float x2 = gamepad1.left_stick_x;

     // Reset variables
     float leftFrontPower = 0;
     float leftBackPower = 0;
     float rightFrontPower = 0;
     float rightBackPower = 0;

     // Handle regular movement
     leftFrontPower += y1;
     leftBackPower += y1;
     rightFrontPower += y1;
     rightBackPower += y1;

     // Handle strafing movement
     leftFrontPower += x1;
     leftBackPower -= x1;
     rightFrontPower -= x1;
     rightBackPower += x1;

     // Handle turning movement
     leftFrontPower += x2;
     leftBackPower += x2;
     rightFrontPower -= x2;
     rightBackPower -= x2;

     // Scale movement
     double max = Math.max(Math.abs(leftFrontPower), Math.max(Math.abs(leftBackPower),
        Math.max(Math.abs(rightFrontPower), Math.abs(rightBackPower))));
       
     if (max > 1) {
           leftFrontPower = (float)Range.scale(leftFrontPower, -max, max, -1, 1);
           leftBackPower = (float)Range.scale(leftBackPower, -max, max, -1, 1);
           rightFrontPower = (float)Range.scale(rightFrontPower, -max, max, -1, 1);
           rightBackPower = (float)Range.scale(rightBackPower, -max, max, -1, 1);
     }

    // Here you set the motors' power to their respected power double.
}