To be safe, you should change the channel after getting the value. Also, be sure to double check the reference manual to make sure you have the bits right for the channel selection, we had some trouble with that when we to alternate between gyro and accelerometer.
In the end, we didn't use it though; our sensors were giving bad readings, presumably broken. We did come up with two rather ingenuitive ways of solving the direction and arm height problems, though I'm not too sure I'm supposed to share them just yet.
What's it matter though if we can't get the robot to drive straight when it's going for the tetra
