Re: Gyroscope saturation?
 

Eric and Kaszeta - thanks! That helps a lot...I am using Kevin's current gyro code, so that should work.

I'm learning so much more about programming this year - kind of funny that as we switch from autonomous to hybrid, our team is using more sensors and more intelligent code...

Re: Gyroscope saturation?
 

The trapezoidal integrator is important in order to filter out the noise. Below is post that goes into more detail.

http://www.chiefdelphi.com/forums/sh...3&postcount=32

Re: Gyroscope saturation?
 

At 38Hz (the RC control rate) trapezoidal integration is a very important tool to better approximate the integrated area. However, I suspect that sampling at much higher (~1000Hz) rates you can do a much better job of estimating the area using simple rectangular integration because the Riemann delta x values are much smaller (and you're well above the Nyquest response of the gyro).

This looks like a cool visualization aid:
http://www.vias.org/simulations/simu...iemannsum.html

And for those who haven't learned about Riemann sums in school yet, here's the pretty cool Wikipedia page (ignore the scary math and have a look at the images):

http://en.wikipedia.org/wiki/Riemann_sum

For the student that wants to learn even more:

http://en.wikipedia.org/wiki/Integral

-Kevin