[JohnGilb]

We did that for a time, but it turned out the finer resolution was overkill and a bit noisy. The lower resolution (500 deg/sec max output) was accurate enough.

Actually, I thought the gyro was broken, because sometimes it wouldn't drift at all for long periods of time. Then I'd kick the robot and see it respond. The gyro combined with the default gyro libraries from WPI worked pretty well.