pic: Reverse Drive

[Chris is me]

Originally Posted by artdutra04

A [quadrature] encoder and velocity PD control loops are lighter than an additional gear.

While true, if this is a big problem for this team and driving straight is fixed by a single additional gear, a team heavy on the mechanical but light on the programming resources could pretty reasonably decide the tradeoff is worth it.

That being said, I've been told many times before that CIMs have no significant motor bias whatsoever. I have no data, but my team has also never had this problem so I'm inclined to think for my purposes, it's not a big deal. Your team and setup could be completely different, particularly if you have a 2WD robot which has no turning scrub.