Holonomic + gyro/PID

[Jogo]

Wow you guys are all really helpful! I think two separate issues are coming up here, mostly due to my ignorance.


1) Driver-centric vs. Robot-centric: It seems that this issue is not related to the type of drive train. For example, by turning the joystick into a polar coordinate, if I push the joystick to (0.5,pi/4), then I could see using a gyro to constantly PID to the angle even without holonomic wheels. Error in this case could be caused by the gyro, which if it mounts up might require the driver to zero the gyro midway through the match.

2) Holonomic vs….well, non-holonomic: Having never tried a holonomic drivetrain, I was wondering if error could mount up naturally. For example, pushing the joystick to (0.5, pi/4) might for some reason not move the robot at precisely this amount due to environmental factors. I was wondering if teams use a gyro or other sensors to deal with this, but maybe this isn’t a significant problem.

I'd appreciate any attempts to help clarify this stuff for me. Thanks