[mikets]

4 encoders on mecanum wheels are tricky to deal with for using in autonomous drive. Basically, you need to look at the source code RobotDrive.cpp in the WPI library. For example, look at the function MecanumDrive_Polar. Read all four encoder readings (encoder->GetDistance()) and combine them using a reverse algorithm from MecanumDrive_Polar to calculate the magnitude, direction and rotation. Our team used mecanum wheels for last year and use them again this year. So we want to develop a library module to deal with 4 encoders for autonomous drive. Unfortunately, our build head selected gearboxes that made mounting the KOP encoders impossible. So we never get a chance to develop that library module. But if we were really going ahead to implement it, that would be how I would do it.