[wireties]

Originally Posted by SeafordVikingR

Yes, the wheels are in the "X" formation. What happens is, it strafes but as if it's on a curve rather than strafing straight left and right.

Your motors and/or transmissions are not producing exactly the same wheel speed and/or your weight is not properly distributed. This is expected. If it strafed perfectly you would be lucky. You need encoders for each wheel or need to characterize the performance of each motor/transmission/wheel and account for this in your code. I'm not sure how a gyro would help you - that would be a tricky algorithm.

HTH