[KenWittlief]

If you are going through the trouble to read the gyro, and see that your robot is turning when you dont want it to

then instead of having your robot throw up its arms and give up in the middle of auton mode, why not take that same information, feed it to your motor control system, and use that error signal to zero out the turn rate and keep the robot on its original heading?

The gyro chip is very sensitive, as soon as it detects the slightest bit of turn rate you can have your robot fight back to stay straight on its path.

You've come this far, take the last step: close the loop (PID feedback is a beautiful thing!)

In fact, if you design in gyro feedback steering for auton mode, you can leave it engaged for driver mode as well - then all your driver has to do is point the robot with the joystick - if anything pushes it off the drivers intended course then the robot itself will fight back against the outside force to maintaing the drivers desired heading.