[RyanCahoon]

Originally Posted by Lordblair

In 2012, we used just one gyro on our robot. This year we had two gyros, one being mounted upside down in relation to the other, that way we could use code to negate the drift. Having driven both the 2012 and 2014 robot, the second gyro makes a huge difference. There weren't really instances where I had to worry about re-zeroing during matches.

Would you be willing to post the code that you used to fuse the two gyro measurements?

Thanks,