How to Code Gyro to Help with Straight Strafing?

[Arbalest007]

Our robot does not strafe well probably because of the amount of different weight distribution that is occurring in the frame. Is there any way I can implement code to use a gyro to constantly maintain the same heading for the robot to strafe very straight? Also, does the Gyro have to be in the middle of of the robot frame to work correctly? BTW right now we're using the mecanum_polar method with a joystick that has the z axis for mecanum driving. Our team is all rookies right now because most of us are new to the team.