[Joe Ross]

I would assume that your encoders are working, since you didn't mention any problems with going straight. Is your gyro working is the first question.

Even with a working gyro, we had trouble with the turning code, I think it was because our encoders didn't give enough resolution to give good velocity control. With a few modifications we were able to get the code to turn with encoders working well enough. We're still working on turning with the gyro.