[Joseph DeRoest]

My assumption was that a gyro and PID loops would make it the difference between smooth and "smooth". I could be wrong?

I understand that a good mechanical design is needed. What I want to assume is that mechanical is mostly perfect and we want sensors to correct any errors.

Right now, we do not have sensors mounted. However, we are getting a NAV6 IMU sensor to mount to give us that extra "oomph" (we haven't had good experiences with those AndyMark/KOP gyros).

Thanks!