[Andrew Morris]

Switching to an FRC controller shouldn't affect anything unless you change the code because the FRC controller and the VEX controller have the exact same microchips and are just packaged differently. Also, I was wondering how you are powering the Victors and motors because you don't appear to have a 12v FRC battery on the robot and running them off a 7.2v VEX battery could be causing your uneven drive problems if they are made to run off 12v.