[Sky Captain]

Mostly the first two problems you posted. When we drive in autonomous, sometimes it doesn't drive straight. Also with the motors being off, the drivers are having to attempt to manually compensate for differing speeds on the left and right set of motors. On the robot we are testing, we are using Jaguars set up in PWM (standard) mode. We have encoders and a gyro. We've checked out the gearboxes, and made sure that all the treads are tight. We think it might be an inherent differences in the motors themselves.