I finally got the code working. After numerous problems with trying to make global variables (something I just learned today
) and then having trouble with some crazy syntax error that I wasn't sure what the heck it was talking about (so I just deleted the code) I finally got it working. It seems fairly accurate, although the robot still drives crooked, but the encoders are driving much more straight than before, which was in circles. Thanks JamesBrown for all your help, I couldn't have done it without you.