Had time today to get the code loaded and try it out. Looks like the missing ArloCalibrate was my original issue. Did some testing with it, noticed that the example had the following code to make it go forward:
but that just made it go in a circle. I actually had to change it to
drive_rampStep(100, 100); // Forward
to make it go forward. I suppose this is because one of the encoders has to be installed in reverse from the other. Going to have to look up some of the ActivityBot examples now.
drive_rampStep(-100, 100); // Forward