Very cool. I was able to drive 190's 2005 robot, which implemented the same type of control scheme. I found it was extremely easy to just pick it up and start doing some really complex maneuvers within about 15 seconds of driving it. If yours is anything like theirs, you will be driving circles around all the other bots at GSR.
To echo some of the previous questions... what type of additional sensors did you use to re-zero the gyro? I can imagine some range finders picking up the wall, but that's noisy at best. It just seems like a chore to have the driver re-zero the drive base a few times per match.