Correcting Mecanum Wheels with Encoders (Ether, We Summon You!)

[Ether]

I don't do Java/C++ code debugging from afar so I invite Java/C++ gurus to jump in here.

In the meanwhile, it might help if you would post answers to the following questions:

What units are you using for speed commands when in Speed mode?

How did you determine the PID gains?

Have you looked at the encoder values you are getting?

Put the bot up on blocks and command pure strafe right. Observe the 4 wheels and tell us what direction each wheel is spinning, in both PercentVbus and Speed mode. Just saw your edit, so: What direction was each wheel spinning?