Autonomous Inconsistencies

[GeeTwo]

I would try printing the encoder count to the smart dashboard on a heartbeat (perhaps 0.1 or 0.5 sec, depending on how fast you're going) and compare the results of the trials that work vs the ones that don't. There should be some sort of clue there.

Also, presuming that you are driving this on some variant of tank, you need to ensure that the counts of the two sides increase together. If one is getting ahead of the other, slow that side down a notch. Otherwise, you'll wind up curving off course, though the robot should straighten out to the correct orientation at the end if it hasn't hit anything.