[Kevin Sevcik]

I don't think that'll work quite like you intend. It'll work fine for autonomous mode dead reckoning, but not for normal driving, really. I'd think in normal driving, the difference would scale with the speed of the motors, and you'd need a more complicated function to figure out the compensation.

In addition, your reverse compensation isn't right. Remember, when you're going in that direction, the motor that's normally going in reverse is now going forwards. It's now the one that needs to be compensated. The reverse direction should be:

pwm01 = 0 + COMP_SPEED;
pwm02 = 0;