Just a quick video,
https://www.youtube.com/watch?v=gG1j...ature=youtu.be
The Stabilization PID needs some help... but we seem to like omni drive, with the field centric it really takes all of the thinking out of driving... I'll cough up the code tomorrow, not too bad, just some simple trig and a PID. Funny enough I did this to break in our new programmer next and give him some experience, we worked out all the drive algorithms and the trig for the gyro, Good job Correy!