[Iaquinto.Joe]

Originally Posted by Pratik341

Something that our team does is to click the B button on the driver's gamepad before the match starts but after the robot is placed on the field, and this zeros the gyro. We usually try to do this as late as possible, but it is very effective in eliminating drift. Something else that you could do is to turn on the robot after it is placed in its starting configuration so that the gyro doesn't change when teams position the robot.

We're planning on implementing a running average of our voltage the first time we're in disabled (On startup) of something like 32 samples. When we get enabled, our code would have our calibrated voltage of when the match countdown is going on.