[Squall]

Hey, I've email kevin with this question and he answered :

"The software should work with quite a few gyros. We
used one made by Silicon Sensing Systems, but you
should be able to use the popular Analog Devices
ADXLS150 or ADXLS300 gyros too by modifying
the GYRO_RATE_SCALE_FACTOR and
GYRO_ANGLE_SCALE_FACTOR #defines in
gyro.h. We used two Grayhill 61K128 encoders on
the gearbox output shaft."

I think that this info can be of use to a lot of teams, and this way we don't have to botter Kevin so much asking the same question.