[GeeTwo]

You don't need a gyro to figure out if you're on flat ground. You don't need to integrate at all. When you're stopped, check the accelerometer. The relative sizes of the X, Y, and Z axes will tell you the RoboRIO's orientation. Unless the mounting has broken loose, you can then figure out the robot's orientation.

Shooting based on an integrated inertial navigation position is likely to be a waste of time. If you aren't using vision code or otherwise aligning the robot to field elements, you're unlikely to hit a high goal. At least practice this to find your shot percentage so you can figure out whether the extra five points when you make it is worth the time to track the boulder down when you miss.

Don't just acquire a target; let it tell you where you are. The farther away you are, the smaller it shall appear. Don't shoot if the target is too small.