Porportional rotation using gyro

[mrklempae]

Hello,
I haven't been here in a while, but searching the forums didn't turn up anything relating to this topic. My team has been tying to correct for problems in our drivetrain (caused by uneven weight distribution and improperly mounted wheels) in programming while the build team tries to fix issues with the mechanical part, and everything we've tried has been relatively unsuccessful. What we have in mind is a system that would force the robot to keep at it's current angle of rotation (using the gyro) if the operator isn't currently trying to turn the robot. We've tried to use bang-bang style control (we knew this was a bad idea from the start) and take back half (which seems better suited for other purposes), and have yet to try PID. We reset the gyro and attempt to initiate our closed-loop control system every time we stop deliberately rotating. Does anyone have any suggestions for a proper way to do this (other than fixing the weight distribution and whatnot)? Thanks!