Following the conclusions from Wednesday's testing, I switched out my older stepper drivers for some new higher quality units. 

• Initially the robot suffered from rotating but that was quickly solved by setting the current higher using the potentiometer.
• Once set to maximum current, the rotating issue was solved and resulted in better overall perfromance with no adjustment of PID values (see link below). However, the stepper drivers were getting very hot quickly so testing was only done for short periods of time with cooling breaks inbetween.
• The breadboard was velcoed onto the robot frame and filming in slowmotion revelaed that there was some play between the breadboard and the robot that was lilkely to harm the gyro readings (see link below).
• The conclusion was to fix the breadboard rigidly to the frame to mitigate these vibrations.

Please see this link for videos of the above testing: VIDEOS