[cjl2625]

About the gyros:
In our swerve drive, sometimes I'll turn on the robot and the gyro might start drifting at 3 deg/sec at times. Even when it doesn't drift this bad, it accumulated quite a bit of error in a match. This seems inevitable; we've replaced the gyro many times.

We have a gyro reset button, and I end up calibrating the gyro many times in match. Even with the reset, I sometimes find myself driving with 25+ degrees of error.
Somebody above said that this was impossibly disorienting, but I find it manageable.
I got used to gyro inaccuracies after some practice.

Nevertheless, we're determined to improve the system. We are going to try using two gyros, one mounted upside down. 1717 does this and says it helps a lot.

Even if I had to deal with gyro drift forever, if still greatly prefer field centric over robot centric