Mecanum Code

package mecanum2;


public class Mecanum2 {

    static double x = -1;
    static double y = -1;

    static double rawTheta = 0;
    static double theta = 0;
    static double magnitude = 0;
    static double d = 0;

    static double FLPower;
    static double FRPower;
    static double BLPower;
    static double BRPower;

    public static void main(String[] args) {
        magnitude = Math.hypot(x, y);
        //Quadrant 1
        if (getTheta() >= 0 && getTheta() <= 90) {
            d = getTheta() / 90;

            FLPower = 1;
            FRPower = -1 + (2 * d);
            BLPower = -1 + (2 * d);
            BRPower = 1;
        }
        //Quadrant II
        else if (getTheta() > 90 && getTheta() <= 180) {
            d = (getTheta() - 90) / 90;

            FLPower = 1 - (2 * d);
            FRPower = 1;
            BLPower = 1;
            BRPower = 1 - (2 * d);
        }
        //Quadrant III
        else if (getTheta() > 180 && getTheta() <= 270) {
            d = (getTheta() - 180) / 90;

            FLPower = -1;
            FRPower = 1 - (2 * d);
            BLPower = 1 - (2 * d);
            BRPower = -1;
        }
        //Quadrant IV
        else if (getTheta() > 270 && getTheta() < 360) {
            d = (360 - getTheta()) / 90;

            FLPower = -1 + (2 * d);
            FRPower = -1;
            BLPower = -1;
            BRPower = -1 + (2 * d);
        }

        System.out.println(FLPower);
        System.out.println(FRPower);
        System.out.println(BLPower);
        System.out.println(BRPower);

        if(FLPower > FRPower && BRPower > BLPower && FLPower > 0){ //Motors should behave like this in QI
            System.out.println("Northeast");
        }
        else if(FLPower < FRPower && BRPower < BLPower && FRPower > 0){ //Motors should behave like this in QII
            System.out.println("Northwest");
        }
        else if(FLPower < FRPower && BRPower < BLPower && FLPower < 0){ //Motors should behave like this in QIII
            System.out.println("Southwest");
        }
        else if(FLPower > FRPower && BRPower > BLPower && FRPower < 0){ //Motors should behave like this in QIV
            System.out.println("Southeast");
        }



    }



    public static double getTheta(){
        if(x != 0){

            rawTheta = Math.atan2(y, x) * 180 / Math.PI;

            if(rawTheta > 0){
                theta = rawTheta;
            }

            else if(rawTheta < 0){
                theta = 360 + rawTheta; //Negative angle measures in quadrants 3 and 4 are converted to angles from 180-360
            }
        }

        else if(x == 0){ //Required because the atan function divides y by x and you can't divide by 0
            if(y > 0){
                theta = 90;
            }
            else if(y < 0){
                theta = 270;
            }
        }

        else if(y == 0){ //Not sure if I need this but I'll keep it in here for consistency.
            if(x > 0){
                theta = 0;
            }
            else if(x < 0){
                theta = 180;
            }
        }
        else{

        }
        return theta;
    }
}