Programming Swerve Drive

[TBots]

Hello Everyone,

We are attempting a swerve drive and could really use some help programming it. We have MA3 Miniature Absolute Magnetic Shaft Encoders on each wheel that measures the angle it has been turned. We need help writing it into the program. We've seen a couple of examples using PID logic, and would love to go that rout, but still are not fully understanding exactly what a PID does or how to implement it into our program. If we have four wheels and four encoders, how do we program PID logic for all four? Is it separate for each wheel? Then how does tele-op work?

Any help or tips would by much appreciated!
Thank you!