[JamesTerm]

We found a similar symptom to happen with our robot and I believe we are using CIM. Basically when appling equal voltage say 0.08 on both motors only one side would run while the other did not. I've applied a software solution that removes the "dead-zone" like you can do for joysticks, and the linear interpolate the rest of the values. This alone appears to improve the problem, and probably well enough to conduct autonomous... we'll just compensate for the slight turn... since it is consistent we can make something work. I'll want to pursue the gyro solution as time allows (especially for next season).