Usually I travel from Bangalore to Madanapalle on holidays. There is no train facility to madanapalle. So, I go in Bus. I went through RTC buses sometimes, KSRTC and sometimes APSRTC.
I started from Majestic. The APSRTC buses are charging more than KSRTC buses and in some vacations like holidays, there are charging one and half fare from passengers. The journey is of course safe. They go slowly. It's too boring because there is no entertainment in bus like TV, AUdio, etc. While in KSRTC buses, they charge less fair and they go fast also. But, staff performance is not better than APSRTC people.
There is lack of KSRTC bus timings in both ways. And evening times, there are less direct buses from Bangalore to Madanapalle from Majestic. Only, Kadapa and Nellore buses are available.
Its better to carry some audio or video device for better time pass in journey.