Encoder with CAN for Drive Train

[bradleybaldwin]

Hello,
During the offseason our team is trying to use mechanum wheels so we can move side to side. When we first put the wheels on the robot it moved diagonally instead of side to side. We attempted to fix this by switching from PWM to CAN and by adding encoders to each wheel. We then attempted to tune each pid controller with minimal success. Is this the best way to go about solving this problem and if it is then what is the optimal way to tune the PID controllers.