Here's a quick little description of the method team 647 used to read the gyro and make nice consistent 90 degree turns. It's a little rough as it's pieced together from some emails here on my laptop and done here in the hotel room in Houston after practice day. I'll try to write up something a little more coherent when we get home.
We gave this explanation to our student programmer, and he ran off and started writing autonomous code, and we mentors haven't caught up with him since!
Bruce C.
Engineering Mentor
Team 647 CyberWolves
2003 Lone Star Regional Winner