[Rickertsen2]

Last year we did the following with great results:
1.)lift your robot on some blocks. Write some code that steps gradually through each pwm value and use some sort of wheel speed sensor to create a table of PWM vs. speed. Do this for each drivetrain module.

2.)write a lookup table that makes things linear
3.)The deadzone that is built into the speed controllers has now been eliminated so you will need to code your own. Do so.

This works well to smooth out the nonlinearity wherever it comes from, and make your drivetrain drive straighter. Short of closed loop feedback, i think this is the best approach