Help an old dog w/ new tricks

[dipmeinaluminum]

We used the AM14U2 chassis, with one joystick arcade drive.

When it comes to the encoders, we can see the value, and the team can even assign it to a certain RPM. We can watch it, but in a isolated situation we notice that its a not consistent, and certain situation we would need accuracy.

I think that is all the sensors, where nothing is 100% Maybe its the type of sensor?
But I do need help tracking distance, and other functions with success. The Gyro, we can see the angle, we can also have it turn 90. When it comes to using the PID Loops to achieve what we want, we are failing.