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Re: Gyro angle in simulation vs reality?
The WPILiib VIs should behave the same for a simulated, analog, and digital gyro. The conventions of the simulator were quite different and had to be manipulated in order to fit into WPILib, and it seems like you've discovered a bug.
If you select the gyro VI in your code and choose Edit>>Create SubVI, it will wrap the WPILib version in a simple subVI. Try to modify it to make the simulated one behave the same as real-world, then use that instead until the bug gets fixed.
Greg McKaskle
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