[Ether]

Attached is an example LabVIEW implementation.

I'm not an experienced LabVIEW programmer but I think this is correct.

Note that with the LabVIEW PID vi, you feed in the setpoint and process variable, not the error.

The vi also does the output range limiting for you.

The constant K1 adjusts the sensitivity of your joystick Z-axis command.

The Z' output from the PID is your controlled yaw rate command which gets fed into your mecanum wheel speed calculation along with the fwd/rev and strafe joystick commands.

To tune the PID, try starting with proportional only.