[progal]

We're trying to get the angle during Teleop mode. It worked in the past perfectly, and now every time we enable (and disable) the reading on the Driver Station LCD is rapidly decreasing 1/100th every second. But if the gyro feels like it, it will rapidly increase 1/100th every second.

This is how we're initiating it:

#include "WPILib.h"

/**
 * This is a demo program showing the use of the RobotBase class.
 * The SimpleRobot class is the base of a robot application that will automatically call your
 * Autonomous and OperatorControl methods at the right time as controlled by the switches on
 * the driver station or the field controls.
 */ 
class RobotDemo : public SimpleRobot
{
	RobotDrive myRobot; // robot drive system
	Joystick stick1, stick2; // only joystick
	ADXL345_I2C adxl;
	Gyro gyro;
	Relay *blinkylight;

public:
	RobotDemo(void):
		myRobot(2, 3),	// these must be initialized in the same order
		stick1(1),		// as they are declared above.
		stick2(2),
		adxl(1, ADXL345_I2C::kRange_2G),
		gyro(2)
	{
		myRobot.SetExpiration(0.1);
		blinkylight = new Relay(4);
	}

And this is how we're utilizing it:

void OperatorControl(void)
	{
		gyro.Reset();
		gyro.SetSensitivity(0.007);
		DriverStationLCD *dsLCD = DriverStationLCD::GetInstance();
		myRobot.SetSafetyEnabled(true);
		bool motorinv = false;
		
		while (true)
		{
			blinkylight->Set(Relay::kForward);
			/*
			ADXL345_I2C::AllAxes ax = adxl.GetAccelerations();
			//printf("X: %f, Y: %f, Z: %f", ax.XAxis, ax.YAxis, ax.ZAxis);
			dsLCD->PrintfLine(DriverStationLCD::kUser_Line1, "X: %f", ax.XAxis);
			dsLCD->PrintfLine(DriverStationLCD::kUser_Line2, "Y: %f", ax.YAxis);
			dsLCD->PrintfLine(DriverStationLCD::kUser_Line3, "Z: %f", ax.ZAxis);
			*/
			dsLCD->PrintfLine(DriverStationLCD::kUser_Line1, "X: %f",
					adxl.GetAcceleration(ADXL345_I2C::kAxis_X));
			dsLCD->PrintfLine(DriverStationLCD::kUser_Line2, "Y: %f",
					adxl.GetAcceleration(ADXL345_I2C::kAxis_Y));
			dsLCD->PrintfLine(DriverStationLCD::kUser_Line3, "Z: %f",
					adxl.GetAcceleration(ADXL345_I2C::kAxis_Z));
			dsLCD->PrintfLine(DriverStationLCD::kUser_Line4, "Gyro: %f", gyro.GetAngle());
			dsLCD->PrintfLine(DriverStationLCD::kUser_Line6, "Motorinv: %d", motorinv);
			dsLCD->UpdateLCD();
			
			if(stick1.GetRawButton(2) || stick2.GetRawButton(2))
			{
				if(motorinv == false)
				{
					motorinv = true;
				}
				else if(motorinv == true)
				{
					motorinv = false;
				}
			}
			myRobot.SetInvertedMotor(myRobot.kRearLeftMotor, motorinv);
			myRobot.SetInvertedMotor(myRobot.kRearRightMotor, motorinv);
			if((stick1.GetTrigger() == true) && (stick2.GetTrigger() == true))
			{
				myRobot.TankDrive(stick1,stick2);
			}
			else if(stick1.GetTrigger() == true && (stick2.GetTrigger() == false))
			{
				myRobot.ArcadeDrive(stick1);
				}
			else if(stick2.GetTrigger() == true && (stick1.GetTrigger() == false))
			{
				myRobot.ArcadeDrive(stick2);
			}
			else
			{
				myRobot.TankDrive(0.0, 0.0);
			}
			Wait(0.005);				// wait for a motor update time
		}
	}
};

START_ROBOT_CLASS(RobotDemo);

I guess the question is, what are we doing wrong to get such extreme values? Like I said, this previously worked and we switched out gyros - same problem.

Thank you in advance!