[cprogrammer]

The Code looks like this in autonomous
while (autonomous_mode)
{
if(Get_ADC_Result_Count())
{
Process_Gyro_Data();
}
etc etc etc.
The only gyro things in here are gyro = Get_Gyro_Angle();
and gyro is a variable declared as long gyro;
We are using kevins camera code as a base and combined the encoder and gyro code into it using his instructions.

in Process_Data_From_Master_uP the Gyro is initialized in User_Initialization and is calibrated in Process_Data_From_Master_uP using the stop and start bias offset. Then it is using kevins temp_gyro_angle = Get_Gyro_Angle(); to get the angle of the gyro. If you have anymore question feel free to ask.