Try searching for 1986 Team Titanium's 2013 Code here on CD. Their 2013 autonomous is a great example of exactly what you're wanting here (and it worked every time).
The "gain" other posters are talking about is calculated with PID and it takes some fine tuning. Tank drive would take a lot more math and headache to get right and you wouldn't have as much control over the turn. Like Alan said, I'd stick with Arcade for this Autonomous if I were you.
EDIT:
this is one example of what you're looking for
