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Originally Posted by Michael DiRamio
My guess is that they don't want to fire if they have been knocked off angle from the target, but would like to start firing again if their robot once again faces the target.
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ok, but the gyro doesnt tell you at what angle you are pointing, it tells the the rate at which the robot is turning
so if the robot turns for any reason it would stop - any reason includes any offset in your drive motors that might cause the robot to not go exactly straight
then when the robot has stopped turning it will start moving again? that doesnt make much sense.
the same for Kevins suggestion - if another robot taps you sideways a little whats the point in shutting the robot down, then starting up again when you stop turning? Either way you have been knocked off your path.