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647 - excellent - we did the same thing
I hope you also subtracted 127 from the gyro signal each time - to normalize it to zero :c)
team 578 used the gyro for two things - we integrated it like 647 stated, the result is a 'compass heading' in a 16bit register.
We also used the gyro signal for closed loop steering. Instead of taking the joystick X signal as the steering command to the motors, we subtracted the gyro output from the joystick X signal.
This told us the difference between what the driver wants the robot to do, and what its actully Doing! We then used this 'error' signal to command the voltages to the motors.
This made our robot steer like a giant servo - if you pushed the joystick slightly left, the robot turned left at a very slow and steady rate - if you pushed it hard left it turned left at the max rate of the gyro (about 75° per second)
and the great part - if you are telling the robot to go straight, and something tries to nudge it off course, or a wheel slips on the ramp, then the closed loop feedback corrects the power to the wheels 40 times a second to keep the robot going exactly where the driver commands it too.
We also used it in auton mode - but instead of the joystick X signal, we preprogrammed the direction. the bot stayed on course, no matter what it hit.
This is the first time our team used closed loop feedback for steering - its AWESOME!
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