[RyanCahoon]

Originally Posted by SteveS

We can observe the drift with the gyro not moving and it drifts about 1' per minute. Will gyro movement amplify the drift to this extent? We are seeing about 20' in less then 20 seconds and it is worse with the more movement.

A couple things come to mind on why you might be seeing more "drift" when moving:

• The movement is saturating the gyro. Gyros have a maximum rotation rate they can measure - make sure your movements are slower than that (or get a gyro with a larger range. The tradeoff is usually larger range means less precision for the same price point.) The am-2067's max rate is 250 deg/sec. If you're twisting the gyro with your hand or using an unloaded drivebase, you can easily move faster than this.
• Your integration timescale is too large. The gyro outputs rate information which is then integrated over time. If you wrote your own integration routine, the sampling rate might be too low. If you're using WPIlib's Gyro class, that uses one of the RoboRIO's FPGA accumulators to do the integration, which is about as fast as you can get.
• Make sure you keep the gyro flat when turning it. The gyro will only measure in-plane rotation, so if you change the angle, it might read different measurements for the 0->90 and 90->0 movements.