Bizarre Mecanum Programming Bug

[manderson5192]

We tried using the gyro from the KOP only to encounter frustration in that the gyro would sense angular velocity just fine in one direction while giving random positive and negative numbers in the other direction. I am talking about an output of 15,15,15,15,15 for one direction and 1,-5,16,-15,-4,10 for the other direction. we have decided its simply pointless to mess with the gyro. The arcing I am describing is to the point that the bot strafes in a medium sized circle.

The problem persists in that strafing in one direction (lets say right) makes a diagonal pair of wheels rotate faster than the other pair. Strafing in the other direction yields the same problem but with the other diagonal pair going faster. Does anyone else see this? How do you suggest I proceed?