[JesseK]

It works based upon the initial orientation of the gyro. If you orient the gyro 90 degrees offset from where the driver is facing, every movement you make will be 90 degrees off unless you somehow compensate.

It's the true-vs-relative crap I do all day while coding for submarines -- it's second nature to me now, and the hard part is encoding it in a language that has no built-in geometric calculator.

Without giving too much away too early, see if you can figure out how to control it. I'll give you some hints for the smoothest, most scalable (but not THE fastest) control: use unit vectors from the gyro.