[nandeeka]

The NavX MXP can definitely be useful in autonomous, no matter what drive train you are using. Even drives like tank and west coast drive will not go perfectly straight, and you can use it to adjust your angle as you drive.

The NavX MXP is probably less useful in teleop, where a person can correct for any inaccuracies in the robot's travel. If you wanted to implement a button that makes the robot just go straight forward/back or turn a certain amount it could be useful.