[Greg McKaskle]

Probe the joystick values when your robot is driving forward in tele. Compare that to the values when auto should drive forward.

If the joystick needs to be a positive number to drive forward, change the Steering Power or Y Power to have positive numbers.

If tele uses negative numbers to go forward, then anywhere else in the code using the same ref should use negative numbers. That implies that the Drive ref has been reopened and opened differently than the one used in tele.

As for the default code, why would you ignore it? Especially if it works or almost works and needs to be tweaked? Writing your own code is great, especially once you understand the problem well enough to see ways of improving the working solution. What you describe of your code actually sounds very similar to the default code modified to only follow the straight line. Can you describe the differences? In general, it would also be useful to know what about the default code was confusing.

Greg McKaskle