Last season we used a gyro with mecanum wheels for field centric control. We didn't have any extra code to keep the robot from rotating while moving in a line (typically with tank drive a robot will drive in a large arc). Our robot still moved straight.
This leads me to believe that as the robot slightly rotated from biased motors, it still attempted to move in that straight line. Since the more powerful motors rotated towards the axis that robot was moving (making their contribution less and less), the gyro compensated for the rotation and a natural equilibrium was found (instead of active code keeping the robot on a straight course).
(If you can't tell I'm having a bit of difficulty trying to put into words what I think happened).
Imagine a case where two motors are completely dead, catty-corner. If you tried to move in a straight line, the robot would begin to spin until the dead motors made a line perpendicular to the axis you're trying to move on, and the robot would no longer be able to move.
Does this make sense
__________________
Be Healthy. Never Stop Learning. Say It Like It Is. Own It.
Like our values? Flexware Innovation is looking for Automation Engineers. Check us out!