Mecanum and Encoders

[NicholasRuhland]

We have mecanum wheels with attached Optical Quadrature Encoders. They're hooked up to our CAN Jaguars.

Right now, the wheels are turning at different speeds. And we want them to turn at the same speed because our mecanum system is hard to manually adjust on the field.

Is there a way to use the encoder values to dynamically regulate the speeds of the wheels? Or should we just use the encoders, get some values, find a magic number, and program them in?

We're using Java.