[Joshua May]

Well, I don't have a robot here to test with, but one way you could correct this would be to create an if() loop after the drive code that revereses the direction of the robot's movement on the x axis. Sorry, I can't think of the exact formula that you would use, but the code would go somewhat like this:

if (y >= 127)
{
  "Normal" Drive Code
}
else
{
  X-Axis Reversed Code
}