I used 1 encoder.
Wheels center each other when ever the joystick is idle. And the joystick and motors are "linked".
If I am at 45 degrees in my pad, the motors align themselves at 45 degrees and stop spinning until I change the direction.
I didn't know there where absolute, I though they didn't know the center.
I will look for those...) Thanks!
PS: I have 1 encoder per wheel right now. But I will ask the mechanical team to link them just like team 20
