[WizenedEE]

The general method that I'm thinking of would be to use the difference in the encoder distances as the error for a PID loop. I would use the arcade drive function, since the PID would "output" how fast you should turn.

Also, when you say "tank drive" it sounds a little like you're saying you want to use it during teleop. Is that correct? I think it may get annoying for drivers if they want to turn just a little while going forward, and you'll have other logistical issues to think about.