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For those of you who have used the gyro on FIRST robots, how much of a limitation is 75 degrees per second? Have you seen your robot exceed that value?
I would think that the errors introduced by scaling the value between 0...255 would introduce more overall error in the integration than the robot turning faster than 75 dps.
It also depends on what you're doing with the gyro. If you're doing odometry, seems like you're going to have errors from wheel slip and integration of gyro which will require an on-the-fly recalibration regardless.
If you're just using the gyro for closed loop control, the 75 dps limit shouldn't make as much difference as the sample rate limitation and the quantization limitation.
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