[shawn.schwartz]

Thank you for the helpful links!
The main goal I want to accomplish with these resources is to implement a drive straight system with our tank drive code. I am having trouble figuring it out. Essentially I want to use the gyroscope to run and check if the robot is zeroed, (when in a "drivestraight" command), so that if it comes out of alignment, then it will "re-zero" itself, and continue driving straight.

Has anyone produced a java method for doing this yet, that they would like to share?

Thank you.