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Originally Posted by Avarik
Another method would be to implement checks while trying to run straight. Maybe after every 100 encoder counts, you would, at that point, get your robot to adjust by sending a forward signal to one side, and a 127 to the other. One the counts were equal again, you could try going straight once more.
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Avarik,
Don't forget: just because the number of ticks on each wheel are equal doesn't mean that your path was straight. You need the ticks to alternate one wheel then the other for the straightest path. If you just correct every 100 pulses, then you drive sideways for 100 pulses, straighten the robot, then drive sideways for another 100 pulses.
In an extreme case, one wheel sticks and the other goes 100 pulses, so you turned, say 90 degrees. Then you correct and wait till the other sees 100 pulses. That straightens you back out but you have barely moved.
Cheers!
-Joe