I have hard water at my place too and I use Tide Ultra Stain release which works best for hard water and gets my clothes very clean and leaves them smelling fresh.
Another good laundry detergent for hard water is Arm & Hammer Clean Burst Laundry Detergent which is Formulated with Baking Soda.
Tide Cold Water Clean is another laundry Detergent that works well to get clothes clean in hard water.