[Bryce2471]

Originally Posted by AustinSchuh

Last time I benchmarked the Gyro class in 2011, I found a horrible lag between angle changes as measured by the encoders, and and angle changes measured by the Gyro class. I was seeing ~0.1 seconds of lag. This was destroying my phase margin and making it very hard to tune the loops. I banged my head against this for about a month before figuring out what was wrong. I've since become very cautious about gyros and how we use them. This was with the KOP gyro and WPILib Gyro class. That lead to us to use ADXRS453, and we have been very pleased since with it's performance.

Sorry I'm a little late to the party on this thread. As far as this gyro goes (ADXRS453), it looks like there are two packaging options (ADXRS453BEYZ and ADXRS453BRGZ), I'm wondering which one you would recommend, and how you interface with it.

Thanks in advance.