[Jeff McCune]

Here's a cool trick for the gyro sensors:

have your code print out a debug value, one per line, of the gyro sensor, and an increasing value before it. So you get this:

1,127
2,127
3,127
etc...

Use hyperterm or some other terminal program with a large scrollback buffer, attach a long cable, and drive your robot up a ramp or some object you want to climb while capturing the output. Copy and paste the entire thing into a text file with csv at the end, so foobar.csv or what not. Open the file in excel and graph it. It's great for finding thresholds and understanding what the gyro is trying to tell you at various points along the way.