[Tom Line]

We did somewhat the same in a different application: our '09 turrent used the gyro oriented with regards to the driver. It blew the judges away when they could push the joystick in a direction while we rotated the robot on our pit cart and the turrent would stay pointing in the direction the judges were commanding.

We changed the joystick x/y to a polar angle and used that and the gyro with a PID. The only major difference was that we ignored magnitude.