[Chadfrom308]

We have actually never had any problems with our encoders, even when one broke, the rest of the PIDs made up for it.

As for Field Centric, we never used it. It is way faster to do robot centric.

85% of the time, we don't use the strafing feature of the mecanums. But, the most important 15% we use them. (Like lining up the 1pt goal and lining up for inbounding)

And that has made it worth while