[Jack Jones]

I'm testing autonomous mode for IRI and "TURN" isn't working. Robot turns, but won't stop turning.

I'm working blind on this because our programmers were very capable, so I didn't stick my nose in the code, nor the control system. Also, I have no idea where the documentation for the gyro is.

What I do know is:

The code worked at the last regional, West Michigan.
A printf shows that Gyro_TImer() counts up as expected. However, Gyro_Angle() also counts up (but at a much slower rate than the timer) even though the robot was stationary. Is that normal? I expected to see the angle change only when the robot rotated.