[JesseK]

Every one of our issues in driving straight has either had to do with an imbalance in friction or in a misalignment of a wheel. While fixable in software, the unfortunate side effect of such a fix is the robot moving slower overall. Software fixes also add complexity to debugging an autonomous like 2008 (go straight a set distance, turn a to set heading, straight, turn, straight ...) in that the autonomous is less likely to be 100% consistent.