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We have a gyro on our robot and we mainly use it for auto. We had it do what you wanted, granted it is a mecanum drive but we found it actually slowed us down a lot. I'm not our programmer so i can't help with the program, but i would think about what you really want it for so you don't waste your time. Just my advice. They are wonderful for the right situation. Ours wasn't, but yours might be.
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If you have everything under control, something's about to break.
Former FRC Driver, Alumni, Mentor
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