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Re: Calibrate Gyro
To calibrate the bias, your robot needs to be sitting still. If it is moving, then that value that will map to zero rotation, and that is not what you want.
The bias calibration takes place in Open. You can copy that code and do it at any point, or you can call Open someplace other than Begin. If you don't really want to recalibrate, but instead just orient to the field, you can simply call reset so the current orientation will return zero.
Greg McKaskle
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