[PhilBot]

For what it's worth, I wouldn't totally trust the output of the KOP gyro.

See my related thread here:

http://www.chiefdelphi.com/forums/sh...ad.php?t=55200

My experience with the gyro indicated that it has a long time constant of it's own. I did some basic tests, simply moving the gyro (mounted on a block of wood) by hand and I could see quite a long run-on effect (the gyro was still indicating motion long after the motion had stopped).

With a moderate turn rate (say 90 degrees in a second) the gyro would take a good part of a second to come to a complete stop after the turn had completed. Simulating the gyro with a pot showed none of the same run-on (so it wasn't a software issue).

This made it almost impossible to control the motors with the gyro in anything except a straight line run (where any turn was only due to variation in the motors/friction etc)

The other annomily was that this latency only appeared at the end of a turn, not the beginning, which makes me think there is some other processing/filtering going on the sensor board itself. Either way it was a mystery I couldn't resolve.