[JesseK]

It took me 3 years to get my programming mentor to finally keep "drive straight" code OUT of tele-operated period. It's "useful" but isn't necessary to drive in the game. In the end, it robs us of torque for acceleration.

Essentially, due to drift and slip, we don't even use our drive train encoders or gyro after autonomous. The caveat with this is that the driver has had plenty of practice on an open-loop skid-steer system.