[Doug G]

Congats to Ken and your Team's great performance this weekend. Thanks so much to all of you for your assistance with this gyro code. We were very far behind when we shipped the robot - we had no auto code tested at all - but now a few weeks later, we built a second (though very much different) robot and have an auto code worked out. WOW! I know this Thursday at Sac Regional will be a busy day of programming and testing!

Salik: What you are doing IS integration, just a Ken mentioned. Mostly we are taught that integration of acceleration is done by the sum of (a*dt*dt) over a set of time limits. Your code is doing just that... summing up the accelerations where dt is the time of one program loop. Think of it as a sort of "numerical" integration. Take a numerical analysis course in college and you get to write many computer programs to solve all sorts of math problems.

Hopefully it the "chip" comes today so that we can start trying it out.... Fun, Fun, Fun!!