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Originally Posted by KenWittlief
the yaw sensor is an analog device - and you have to supply it with power on its +5V pin - you should see it sitting at 127 or 128 when the bot is not turning, and go up to 254 and down to 0 if you turn the robot fast enough
also, make sure you know the axis of rotation for the sensor - it only senses rotation on one axis.
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None of the FIRST-supplied Yaw Rate Sensors I have had the privilege to play around with have had different neutral outputs. Some have been upwards of 140, while others have been below 110. If you want to effectively utilize any of these Yaw Rate sensors, you'll have to find out what the neutral output is, and use that as your static state. This will limit the sensing ability of the sensor in one direction, while increasing the sensor's ability in the opposite direction (however slightly, in either case, depending on the deviation from "normal").
Also, the Yaw Rate Sensor supplied for the 2003 season has a higher angular rate capacity than the sensors provided in previous years. The 2003 sensors had a theoretical (according to the datasheet) maximum of 75deg/sec, while previous years' had a theoretical maximum of 64deg/sec.