[TylerHarmon]

Do not use encoders on mecanums. It will not work. Mecanum wheels slip, which completely destroys the value/quality of the ticks that your encoder returns. How many times a mecanum wheel turns cannot directly be translated into distance. Again, don't try to use encoders it will not work.

If you put a gyroscope on your robot, and you know the direction that you want to be going, you could use a PID loop to keep the robot on the heading. All you would need to do is set the PID's setpoint to the angle that the robot should be at, and that should compensate for a lot of drift.

Good luck,

-Tyler