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Well, I used last year's gyro to successfully integrate the angular position, but I got a weird result. My integration was always approximately 29/36 of what it should be. I simply have to multiply the result by 36/29 in order to correct it, but I would still like to know why it does such a thing. The only thing that I can think of which would cause a proportional discrepancy is that the processor is running slowly. However, my program uses no division or floating point operations, so this makes no sense whatsoever. The only other thing which may mess it up is that I just throw out any gyro values between 6 and -6 (out of a range of -1024 to 1024) to account for the inaccuracy of the gyro when it's sitting still. What could be causing this?
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