[Hawiian Cadder]

having done mechanum last year i can tell you how to solve 50 percent of this problem, go to ace and get some Graphite Lubricant. use this on all of the mechanum rollers being very careful to not get it on the roller surface. this makes the rollers much more consistent in their rolling and makes it work a lot better. the second thing to to is check all of your bearings and make sure they are not binding. after that there is not much you can do. i dont think the programing is usualy at fault for not driving straight, but it is one place where programing can solve the mechanical error. PID might be a good thing, ramping code is also useful.