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One of the most useful things to do with the yaw rate sensor in the kit is to keep your robot tracking in a straigth line.
You can generate a desired yaw rate, compare that to the actual yaw rate (from the yaw rate sensor) and give one side or the other more or less voltage in order to have the robot turn (or not turn) as desired.
It can make a really tricky machine behave well, especially 2 wheel drive systems.
Joe J.
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