[Pault]

If you try to run your drivetrain using timing, even if you take battery voltage into account, you aren't going to get very accurate results. If you are trying to drive a certain distance, the best way to do it is to use the encoders that come attached to most drivetrain gearboxes to calculate distance. Then use PID to control how far you go. That's going to give much more accurate results than what your trying to do with battery voltage, and from a coding standpoint is probably much easier to implement.