Encoders and gyro

[tomy]

So i have two questions for you people on CD

1) When we put in our encoder code it stops the robot from driving, why?

here is what we do

Encoder en1;
         DigitalInput *en1a;
         DigitalInput *en1b; 
     
         en1(en1a,en1b);
 
         en1a = new DigitalInput(6);
         enba = new DigitalInput(6);

         en1.Reset();
         printf("encoder =%f\n",  encoder.GetDistante());

The second question is this:
When we drive our robot in mecanum drive with the gyro it works ok but a few glitches:
strafe left works
strafe right turns 180 degrees and then strafes left....
rotation dosent really rotate just swings the back end of the robot left or right....

any ideas?