[mmaunu]

Originally Posted by CjDace

This is the gyro we are using as of now.
http://firstchoicebyandymark.com/fc16-000

For that gyro, you are connected to the correct port (the onboard SPI port). To construct a gyro object in code, you will want to use the Java class that was built specifically for this gyro:
http://first.wpi.edu/FRC/roborio/rel...S450_Gyro.html

You should be able to use the default (no parameter) constructor.
gyro = new ADXRS450_Gyro();

Now, in your drive code's call to the mecanum_Cartesian() method, you should be able to use gyro.getAngle().

Keep asking if it ain't working.