Since each drive wheel has it's own motorand both are controlled by the joystick you can narrow it down to the motor opposite the side it is pulling to (probably not the joystick programming if it was working before). However, there may be another answer: if your home has a lot of carpet, or worse a dog, check where the wheel mounts to the drive motor and clear anything that might be wrapped around the wheel axle into the motor, similar to what happens to a vacuum cleaner brush wheel.
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