[thinker&planner]

We found the accelerometer to be not as useful as we thought, but others might have had different experiences.
If you use Java, you can simply call 'gyro.reset;' ("gyro" being whatever variable is assigned to the Gyro) to "zero" the Gyro. I would think that the easiest way would be to drive into any of the walls and assign a button to zero the Gyro. Just drive into the wall, zero the Gyro, and then you can tell the angle relative to the side.