void arcadeMecanum(double vtX, double vtY, double vR) {
        //telemetry.addData("Inputs: ", listOf(vtX, vtY, vR))
        // calculate raw motor powers
        double lfPow = vtY + vtX - vR;
        double rfPow = vtY - vtX + vR;
        double lbPow = vtY - vtX - vR;
        double rbPow = -(vtY + vtX + vR);
        // get the max wheel power
        double wMax = max(lfPow, max(rfPow, max(lbPow, rbPow)));
        //telemetry.addData("Max Speed: ", wMax)
        // scale the motor powers
        List<Double> dirtyPowers = Arrays.asList(lfPow, rfPow, lbPow, rbPow);
        List<Double> powers = null;
        for (double p : dirtyPowers) {
            powers.add( p /max(1.0, wMax));
        }
        //set the motor powers
        lf.setPower(powers.get(0));
        rf.setPower(powers.get(1);
        lb.setPower(powers.get(2);
        rb.setPower(powers.get(3);
}