[jaustin]

Hi Kevin,
I've got the full sized RC running now and I'm trying to merge last year's pid.c/h and robot.c/h with this year's gyro.c/h, encoder.c/h and adc.c/h code. I've got the encoders working fine and adc appears to be working fine (I've hooked up a pot to analog port 2 and called Get_ADC_Result(2) and got good data). I've even called Get_ADC_Result(1) with the gyro hooked up to input 1 and got readings that varied as I moved the gyro around. But I am not getting anything out of gyro.c. The routine I created to start and stop the gyro bias calculation worked fine on the EDU controller with last year's adc and gyro codes. On this year's full size controller all I ever get is a bias of -1 and a heading of 0.

When I run the gyro only code it works fine. It does not like robot.c for some reason. Any ideas?

I should add that I actually started with the 2006 frc_gyro project and added the other files to it so I would not miss anything. I've also disabled the serial ports options related to rx1, tx2, & rx2.

Thanks again for all your efforts!