[Jon Stratis]

Yes, the encoders help fix that. Look at the PIDController class and the white paper I mentioned - they will help you to understand feedback loops and how to get started with them, although be forewarned - they can be difficult to figure out! Spend some time going through all that and then please contact my team (address already given) - we're happy to help out! We've been giving the Java presentation at MN Splash for years now, are an Alpha/Beta team for the new control system, have been playing around with PID loops since 2008, and we really aren't that far away from you guys. Trust me - if you want the robot to go straight, my students know how to make that happen.