[KenWittlief]

the best way to solve this is to use the yaw rate sensor to close the loop on steering

then when you driver is telling the bot to go straight, the yaw sensor will detect any turning, and adjust the power to the motors automatically

in addition, your bot will drive SO MUCH better with the steering running closed loop - it will act like a servo, instead of a wobbly goblin

if you dont know how to do this, the easiest way is to subtract the yaw rate signal from the joystick X axis signal (assuming your using one stick steering)

this will be the difference between what the driver is telling the bot to do, and what its actually doing.

multiply this error signal by 2 (as a starting point) - normalize it for 127=straight

and use that as your steering command instead of the joystick X command.

If the steering is sluggish, try a gain (multiplyer) of 3

if the steering is jittery, or if it oscillates back and forth, back off on the gain, try 1.5 or 1.

feedback is one of THE MOST powerfull tools engineers have at their disposal!