[neal]

Like omalleyj said, resetting gyro in the loop isn't a good way, especially when it's moving.

I would do something simple like this:

// Reset gyro before the main loop, or with a button.
double angle = gyro.getAngle();
if (angle < 90) {
    drivetrain.drive(0.0, 0.15); // I don't know how turn works, I've only done tank drive and mecanum drive in the past.
}