[KenWittlief]

to control any bot well you need to do something more than let the joystick inputs control the motor PWM outputs directly

FEEDBACK is probabally THE most powerfull tools at an engineers disposal!

When a drive train is geared up for speed, the stall torque is not very far above the friction in the drive train when you first start to move. that means if you are using two drive wheels to steer, then its almost certain that one will drag a little more than the other, and when you try to make small movements, or to go straight, the bot will not act like you want it too.

that why you REALLY need a yaw rate sensor and/or wheel movement sensors to close the loop - so the SW can tell the difference between what the driver is asking for and what the bot is actaully doing, and make the necessary adjustments and corrections all by itself

closed loop steering and closed loop speed control is a BEAUTIFUL THING!