[apalrd]

Usually, when a gyro is implemented, it is used for "field-centric" control. The robot is moved relative to the field, whatever direction it might be facing. This is usually implemented by converting the X/Y inputs from the joystick into a polar coordinate (magnitude and direction), and then add the gyro heading to that direction, then convert the polar coordinate into four motor outputs for either the omni wheels or mecanum wheels.

By itself, an omnidirectional drive has no control loop (or controls the speed of its wheels using P/PID and encoders), but there isn't much error to build up in the drive alone.

Possible sources of gyro error:
IF you boot up while moving, then the gyro accumulator will set the centerpoint to whatever it was when you booted up, and then when you stop moving it will think you are continuously spinning. I do not know if it is possible to set the centerpoint manually.
IF you somehow manage to max out the gyro's output (since it has a 5v or 0v limit), you will loose all of the data above that point. Which means you will be off.
The gyro does have a little bit of running error, which might or might not be negligible during a 2.5 minute match. I have only ever used it during auto, and the error in 15 seconds is negligible.

If you would like to experiment with new drivetrains (especially field-centric driving), I highly suggest that you prototype during the off-season.


Any more questions? feel free to ask.