Hi,
I think he was talking about the Turtlebot 3 (he mentioned the OpenOCR board).
I might be wrong because I have never used a Turtlebot 3 but the fact that it goes straight might come from the fact that the motors used are Dynamixel servos. These motors already integrate a controller (PID like). So as the 2 wheels are supposed to turn at the same speed, the robot gave more chances to go straight.
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