[jtrv]

Okay, well, I seem to only have gotten one decent solution, that I get encoder values and reverse the mecanumDrive trig functions to get distance.

problem: i still don't understand where they even attach to and what exactly they measure.

Do they still measure distance traveled? How do I even track direction with 1 encoder per wheel? If i go 45 deg to the right of initial orientation, and I move 1m, what would the 4 encoders even read?

as of right now we don't have a base, nor anything to attach mec wheels to, so... until then us programmers are kinda sitting here putting stuff on smartdashboard...