Stabilizing robot on bridge with gyro or accelerometer

[RoboMaster]

Our team is looking into this and I wanted to do some research. I know the general use of the gyro and accelerometer, so what I'm really looking for is some discussion on how to use them specifically for balancing on the bridge. I did some searching on CD and I don't think this has been brought up this year. I couldn't really find relevant things from the past, maybe I'm just a bad searcher.

Apparently either can be used (gyro if you mount it sideways), though the accelerometer would seem to be the most logical choice because one of its main applications is to sense what direction "down" is. Is one easier/better to use? Program? Wire? More sensitive/doesn't wander as much? Doesn't matter?

For programming, it could just be as simple as hold this button once you've started to drive onto the bridge, and the robot will let you control the drive motors unless it detects that the robot is level. In that case we assume the bridge is tipped back to horizontal, so the robot will hold the drive motors at zero automatically and quickly. Simple test of the sensor, with a switch case/if statement/case structure allowing the output to the motors to be the joystick values, or a constant zero speed value.
Some additions could be to automatically reduce drive speed by 2x or 3x in this mode, or to disable when the robot is nearly level, or just under the maximum angle, in an attempt to stop driving once the bridge starts tipping.
If you want to have another robot join you on the bridge, you might want to program other features to help out. I'm not sure what those could be.

And of course you could do it all autonomously. Hold/press the button and the robot slowly drives forward similar to above description. This would complicate things a little more, especially if you want the speed to adjust based on how "tipped" the bridge is.


But all this begs the question.......is using sensors and programming really necessary??? Are the drivers going to be able to drive on and level the bridge easily enough? Is it not worth the time and complication? How advanced should one go? As a programmer, I always have to remember that I am serving the drivers, so I need to make the robot easy for them to control in an FRC match environment. Help from automation or leveling sensors may complicate life more than help. I don't know. Personally I think a simple version of the options I described above would simply be helpful and easier than manual driving. Especially if there's an option to avoid or disable and revert to manual methods.

Thoughts? 2cents worth? Has another thread already been started?