[JohnGilb]

We tried a number of filters (Kalman was unfortunately beyond my reach, never had a strong grasp on linear algebra), but they turned out to be unnecessary - the gyro we used (don't have the model # on me) was incredibly accurate - it usually only drifted ~3 degrees over the course of each match, even through collisions.

The "stationary detection" we did was only necessary when the robot was put on the field but the start of the match was delayed several minutes (yeah, we've all been there).