[ida_noeman]

And your saying that you could recover during autonomous with your gyro? No, you couldn't. Also, if you are going for the side goals, and if you go for the nearest goal, then you'll get there before anyone could bump you (as long as your robot is decently fast.) If you get bumped while shooting, you shouldn't be worried about recovering with the gyro because you'll use the cam. And most likely you won't be using either gyro or gear tooth during non-autonomous mode.