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Strafing Mecanum with Gyro
Our team has installed a Gyro, the gyro is zeroed, and in the exact middle of our bot. We can read the values, and we put the gyro angle directly into the Holonomic Drive gyro input. We have noticed that this helps our robot move forward in a very precise line, but does not help our strafing ability, and it is easier/more precise to self correct instead.
We would like to know if there is a way to make the Gyro improve our strafing capabilities.
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I like the way you are saving weight by cutting out the center of the speed controllers. - jcatt [more] 
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