COTS gyros for 2011

[Mark McLeod]

I'd use one of the 300 or 500 degree models.
You want to use one that's as close to, but higher than, your maximum expected robot turn rate.
The lower rotational ones have finer precision, but overload quickly when used on an FRC robot.
The extreme higher ones, e.g., 1500 degrees per second, don't give you the resolution you'll need to control driving accurately.

The Sparkfun models are mostly analog, and that's easy to integrate into our way of doing things.
Be sure to purchase an evaluation or breakout board, NOT the chip by itself.

You probably only need a 1-axis model. For driving you'll be measuring yaw, but that's determined by the mounting orientation.