[efoote868]

My team used the kit gyro this year for field-centric control along with 6" mecanum wheels.

We foresaw the issue of the gyro drifting too far that the robot would become difficult to control, so we instructed the driver that if that's the case, to square the robot up against a field element and reset the gyro using a button on the controller.

I don't think we ever got to the point where the driver needed to reset. I know when we tested in a classroom (and were hammering the robot to the point where one of the AM mecanum wheels broke), the gyro didn't drift any noticeable amount (we ran it for about 20 minutes before having to replace the battery, thus resetting the system).

By the way, 2-5 degrees of drift is very hard to notice. Unless you were trying to score a ball from the far zone this year, you'll never need to be *that* precise.