[magnets]

There isn't a benefit to getting the gyro on the center of rotation. You can put it anywhere on the robot. If I have a gyro in the center, and a gyro on the outside that are both facing forward, and I spin the robot, both gyros will always be at the same angle. When the gyro is on the outside corner, the rotation of the gyro remains the same, but an additional circular path is added. The gyro measures angular rate, which is not influenced by any x/y/z motion of the robot, only rotation around a certain axis.