[alopex_rex]

What I was thinking was a way of dealing with imperfect results from mecanum, i.e., if simply using WPILib's mecanum drive function results in the robot turning when it's supposed to be straight strafing. When the driver is trying not to rotate (the "rotate" value would be zero), store the current gyro heading. Then have a PID controller that tries to maintain that gyro heading, by setting the "rotate" argument for the function. So the PID would find the value that counteracts any undesired rotation caused by mechanical issues.