[Kevin Sevcik]

Since the original poster isn't on a team, I'm unsure how much help our advice is going to be anyways. The 10-bit A/D resolution might not apply to him. At any rate, now that I think about it, 150 deg/s might be a bit slow for our robots turning at full speed. Though if your tracking only matters in autonomous, then you might not have to worry about it and could expand the range further and restrict the turning speed.

Other options more complicated than an op-amp, in order of increasing difficulty would be an off-board 16-bit A/D tied to a serial driver and clocking circuitry to send acceleration readings through the TTL serial port, or an entire off-board processor with better A/Ds to keep track of the heading.