[Don Wright]

Another thought I had when thinking about controlling this type of drive system using a gyro to note rotation would be a button on the OI to "Reset" the gyro to zero or something if it got out of whack.

You drive the robot so it faces the correct rotation for zero, for example, and the hit the "Reset" button and it knows that is supposed to be zero again.

Also, I was thinking that if you just used a pot for rotation and a joystick for movement, and instead of using gyros for absolute movement, you still have a front, you could do really cool thinks like effortlessly drive in a perfect circle. You would just turn the pot to rotate a little, and then drive left or right. As the robot drives left or right, it will rotate and cause you to drive in a circle. Thought that might be kind've cool. We would also have a foot switch or something to "Disable Rotation" so you could quickly stop the rotation and drive normally.

Good luck.