[Lynx34]

Nevermind. It was just a low battery. Thanks for the reply anyway though. Now we're running really straight with the only issue being that it will swerve with low probability of being at the same time in the path of travel. That is, it will swerve, but not always at the same time.

This inconsistency leads me to believe that it is no longer a code issue, but rather a traction issue. I may be able to correct it via code with the gyro, but it would be easier to increase traction somehow. I'd describe that issue further, but I'm thinking that it's a question for a different board on the forum.