A continuously variable transmission (CVT), a transmission control system, and a method is provided. The control system is configured to determine a measured wheel speed of two driven wheels and a first driving wheel, calculate a first driving wheel expected speed based on the driven wheel measured speeds, a track width, and a wheel base, and calculate an actual wheel speed difference between the first driving wheel measured speed and the additional wheel measured speed. The additional wheel can be either of the driven wheels or a second driving wheel. The control system is also configured to calculate a theoretical wheel speed difference between the first driving wheel expected speed and the additional wheel measured speed, calculate a zeroed-out wheel slip based on the difference between the actual wheel speed difference and the theoretical wheel speed difference, and determine whether the zeroed-out wheel slip exceeds a predetermined threshold.