I'm quite the noob but am excited about trying to build a 4wd / mecanum-wheeled robot. I've seen talk about the need to use encoders with such a project. Sadly, I'm really not sure logically how to make use of the encoders in my arduino code. I'm guessing the purpose of them for a 4wd is to make sure the wheels turn at exactly the same rate of speed? Would someone be so kind as to explain this and perhaps how this is implemented in code?