[Dave Flowerday]

What we did in 2003 and 2004 for auto-calibrating the gyro was pretty simple: our custom circuit sampled the gyro for it's "center" position after a 5 second delay when powered on. (Note that the gyro's "center" position can be different every time you power it up!). So, setting up on the field was simple: just make sure the robot is off when you move it onto the field, position the robot, then as the last step before the team members leave the field to go to the driver's station, power on the robot. That ensures that it's not moving 5 seconds later when the gyro is sampled.

Finally, while disabled we'd keep zeroing out the integral that was used as the heading - this prevents it from drifting as the robot sits there before the match began.