[65_Xero_Huskie]

Check and make sure your drives are going the right way, i dont think its your program, i hate to admit it but we could only go forward and backwards for about 6 hours because we didnt have the PWM;s in the right spots, and then we couldnt go right because the trim on our controller was wrong. So before you think its the program ( its usually that ) but u should check your robot and the controls aswell. Just my two cents.