[Hutch]

Well, it may or may not work entirely depending on how much play there is inyour drive train, how hard you turn left and right, and a bunch of other issues. The general idea is right though - you just may need some P, PI or PID control instead of using some set turn speed.

PS: I didn't use Kevin's gyro code this year so I don't know about the snippet there; however, the idea is in general correct.