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The gyro is integrated to tell us exactly where the robot is pointing on the field (like a compass). With that information, as the wheel moves, we can map our current location to an X,Y coordinate on the field. So, the custom circuit always knows where the robot is on the field (within about an inch...although position is reported to the RC in 2" increments).
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We need to talk. I have been wondering about attempting the same thing on a few robotics projects of mine and It could help if I talk to you.
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If either a public officer or any one else saw a person attempting to cross a bridge which had been ascertained to be unsafe, and there were no time to warn him of his danger, they might seize him and turn him back without any real infringement of his liberty; for liberty consists in doing what one desires, and he does not desire to fall into the river. -Mill
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