JAVA code to drive straight using H-drive

[RobOTies]

Thank you for the suggestions! We did put encoders on both gearboxes before we bagged up, but we weren't sure how to use them with PIDs. Any tips on setting the constant values if we try using velocity? Will that work in auto since the robot would not be getting input from a joystick?

I'm a little confused about how to control the voltages independently for each axis because we use arcade drive. Is there another drive class that would work better for this task?

We will check the gyro when we unbag - thank you for that tip!