[Greg McKaskle]

It is true that the example programs tend to focus on getting the encoders connected properly and getting valid readings from them. This is fundamental, and if not done correctly, it simply won't work. Integrating this code into the framework is pretty straightforward once you get your bearings. Hopefully the integration tutorial will help. If not, please ask additional questions.

Doing something with motors and encoders quickly gets very specific to the mechanism being controlled. It is practically impossible for the framework code or game specific code to do much in the way of control because it doesn't know what wheels, what gear ratios, the weight, weight distribution, or anything else about the robot. But luckily many teams each year do this code, and publish their code. If you find a team that works similar to you, builds similar robots, etc. Not only will you have something to read, but someone to contact.

I did a Google search for "LabVIEW FRC Drive Straight". The top link was Team 27, and the doc on page 17 shows how they use a "by half" adjustment in order to straighten their robot. This is simple to implement and test and sounds like a good place to start.

I'm sure there are many others.

Greg McKaskle