[xXhunter47Xx]

Some rollers drag and some have free play or a combination of both.
What I meant for the gyro was that I wanted the robot to have field centric control, not to solve my problem. That's what the shaft encoders are for (hopefully). We only want slow speed strafing for auton mode anyways.

Like I said, the gearboxes are extremely hard to take off and swapping motors takes away a lot of time that can be used doing something else.