[ubergeek5075]

Last year for our dynamic braking system, we wanted a feedback loop from not only the optical encoders on the wheels, but also the gyros. However, I have experienced the same problems with saturation during collisions, and even when our robot turned fast enough.

I remember something from last year when i was researching the gyro from the KOP, that it was 150dps. Even with that we still had that saturation problem.

I agree with the solution of lower resolution gyros, but with the budget of a small team, it may take some convincing.

Also, what resolution on the controller end were you getting? How many values / dps rotation ?