Swerve drive with automatic rotation?

[connor.worley]

I've been looking at different drivetrains, and it seems like full omni swerve drive doesn't offer any huge advantage over left/right linked crab drive. I can see the benefits of being able to turn and omni drive at the same time, but it seems like too much work for the driver if they have to manually control the turn.

But if you put a gyro/compass on the robot, you'd be able to automatically turn to the direction you're driving in. i.e. you'd be able to score a tube, then back up and automatically rotate 180 degrees at the same time.

If you wanted to you'd be able to drive the robot off of a single joystick, although you'd probably want another that uses classic arcade drive so that you can make precise adjustments for scoring.

Are there any teams that have implemented this functionality into their swerve systems? Is gyro drift an issue? Anyone have experience with non-MEMS (such as fiber optic) gyros? Do compasses work?

Thanks,
Connor