[ubergeek5075]

Yes, collisions can cause saturation of the gyros, even if they result in turning the robot slowly. It's all physics, the collision results in an extremely high, however very short turn rates. Graphically speaking, the turn rate spikes, then drops down when your turn rate is constant. This results in some very odd data sometimes, depending on how long that spike lasts, and if you pick it up or not.