Mecanum Wheels & Encoders -- Java code

[aweso_meme]

If I am driving a mecanum wheel drive with all wheels at the same speed, I can change the direction each wheel is spinning relative to the front to achieve each individual result.
If I spin all 4 wheels forward relative to the front, the robot will move forward.
If I spin the front-left and the back-right motors forward relative to the front, and the front-right and back-left motors backwards relative to the front, the chassis will slide to the left.
If I spin the front-left and back-left wheels backwards relative to the front, and the front-right and back-right wheels forwards relative to the front, I will get a Counter Clockwise turn.