jaguar scaling factors

[MAldridge]

My team (3247) just got our bot driving today and we noticed a big problem. With four motors we are using 2 black jags and 2 grey jags. This seemed fine except for a problem where the scaling is not quite right! When driving foward, one side (black side I think) is way faster. As the programer for the team, I was told to fix it. I was thinking that maybe I should attempt to scale the joysticks. The problem with this is that my team also wants to use arcade drive. We used last years DS for testing but they think it will be easier to control with arcade.

My questions are:

1. How do I make each side move in step so that the bot drives strait using PWM
2. How do I re-scale the joysticks so that most of the range is for slow speeds and it is still possible to get full speed
3. Is there a better solution that does not involve buying more jaguar controllers

Thanks in advance