[faust1706]

You should expect cheap hardware to not work perfectly, and a gyro and accelerometer is no exception to this rule. Some hardware you can get away with not being perfect, but not these two.

As someone else has mentioned, the gyro measures degrees/sec, so you must integrate it to get degrees. In a perfect world, the integration would be correct, but there is a delay in points on the graph, aka the "function" of degrees/sec is not continuous but rather just a collection of points.

We are still using a gyro this year. It runs through ardiuno and apparently is better than the KOP one. A clever method to combat this would be to calculate yaw from vision (yaw is heading on the field), then every once in awhile (once a second or so) replace the gyro reading with the solution vision gets. This is the method we are using.