[Jared Russell]

No paper or presentation (yet?). Mainly due to the fact that I was under the impression that many others had done something like it (though I can't name any robots in particular off the top of my head).

In general, our implementation only uses the gyro if we detect that the driver is trying to go straight (the X axis of single stick drive is near 0) - when turning, we leave everything up to the driver. Other than that, pretty much the same.

I would imagine you could code up similar functionality using only left and right encoders, and using the delta between each encoder rate as your error (when trying to go straight).