That's the idea.
If I remember correctly -x will turn to the right and +x will go left.
In practice, because of possible spin out as your robot gets up to speed, I bet the turns won't quite even out. The earlier turns will lose ground and the later turns will be more efficient. But then you'll run into another robot or trailer and everything gets thrown off anyway.
Just keep moving.
The WatchDog Delay & Feed takes care of everything to do with WatchDog timing for you. That vi tells the WatchDog to delay and to feed itself as often as necessary while it's causing the delay.