[mikets]

That is a very broad question. Can you narrow it down to more specifics what you want to do in autonomous? Gyro is normally used to determine your heading. If you want to tell the robot to turn a certain angle during autonomous, you can certainly use it to achieve what you want. If that's what you want to do, you can either program the robot to turn at a constant speed while monitoring the reading of the gyro until it reaches the target then you stop, or you can use PID control to adjust the speed while you turn (i.e. slow down when you are close to your target).