[yash101]

Try calibrating your code. Add a multiplier to the speed on one side to make sure each side runs at the same speed!

So when you get the joystick values and input them into the Jaguars, just add: [multiplier]*[input], e.g. .93*spdx.
Until you get your encoders, this is a cheap-and-dirty way to get the motors calibrated! I wish FRC could legalize some brushless motors/ESCs. That would be safer, lower-maintenance, cheaper and more reliable. Brushless motors can be commutated to get an exact output angluar velocity(RPM)!