Actually...I'm writing that code right now, except we're using joysticks.
If the left joystick is pressed forward, the robot will use encoders to drive straight. When the right joystick is moved side to side, the encoder PID will be turned off and one motor will be slowed while the other is increased, depending on which direction you're turning.
Hopefully it'll be done by friday... I'll post it when I have it
