[RyanN]

Originally Posted by Tom Line

If you continue to have issues, consider doing this:

encoder_error = left_encoder_count - right_encoder_count;
encoder_output = encoder_error * encoder_gain;
if (encoder_output > 127)
encoder_output = 127;
else if (encoder_output < -127)
encoder_output = -127;

Left_Drive = 127 + <insert_your_left_drive_value> - encoder_output;
Right_Drive = 127 + <insert_your_right_drive_value> + encoder_output;

Adjust your gain until it drives roughly straight. It won't be perfect, but it might work well enough for you.

We already have code that does this, and it will increase the change if it does not see a fix, but our gear tooth sensors aren't as sensitive as I would wish, and they skip values when going fast. By the way, I'm using MPLAB.