[Lynx34]

Okay, so I tried Mike's solution and with a few tweaks got it to correct itself as it's driving straight, but the corrections are made far too slow. THat is, it swerves right then left, then right, then left, etc. and the overall displacement is actually relatively forward. However, it does this far too slow and the swerves are really wide. If it were to do this much more quickly and with tighter swerves, then it should be going quite quickly, in a very straight motion.

I'm concerned that this may be due to the cycle of code being too long. Is there any way to quicken the pace of the controller via optimization methods, or do I just have to figure out another way of doing this entirely?