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Re: Mecanum Encoders
What kind of gyro are you using, and how do you have it wired? Does it work properly when you use the LabVIEW gyro example?
For completeness, are your mecanum wheels mounted correctly? At the top of the wheel, the roller axles should point toward the center of the robot. It should look sort of like an X from above, and the rollers should sort of form an O or diamond shape on the floor. If you have them reversed, the robot will not be able to control its direction very well. It might not be able to turn in place at all, and it will very likely rotate some when you don't want it to while trying to drive straight.
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