[IraGlass]

I'm having trouble with the programming for a Mecanum drive that runs straight. I can see how to use encoders to straighten out a tank/arcade drive, and my straightening code works fine forwards and backwards, but moving side-to-side or spinning messes up the code and just makes the robot twitch around. Is there some default code or other method to run an encoded Mecanum drive? Any advice is greatly appreciated!