We are a rookie team in Casselberry Florida. None of us have done FLL before, and we won Robot design at our first competition. We have a PID using the rotation sensors. The reason we did not use the Gyro, is because it is very inconsistent in FLL, so we created a PID using the rotation sensors. For turns we use the gyro, due to the fact that we always make perfect 90 degree turns with our program.