Controlling variance in drive train

[notmattlythgoe]

What methods do other teams use to control the difference in speed between the two sides of your drive train in both autonomous and in teleop?

This year we used encoders to find ratios for each side of the drive train in each direction and scaled the output for each side depending it if the robot was running forwards or backwards. It was decently successful, but I'm wondering if there are better options out there.