[alphadog0309]

I realize that I forgot a few things and for some reason I cannot edit my OP...

at the beginning of your code, you will need to import the HTGYRO driver written by Xander Soldaat, the writer of all the RobotC 3rd Party Sensor Drivers

you can find this file in the Sample Programs->3rd Party Sensor Drivers->drivers folder and can import it using:

#import "HYGYRO-driver.h";

I also have one error in my code... where it says "direction == 1" and "direction == 2" it should be "turningRight" and "turningRight == false"

If you have any other question be sure to let me know

(Sorry mods for the DP but I couldnt edit my original post :/ )