[EricS-Team180]

we've been using 300deg/sec analog devices gyros since 2004. We've had great success with them for driving straight. We've also integrated the signal to give an angular orientation. Since the k.o.p. gyros will saturate at lower turn rates, we have not used them, but for aiding in straight driving, I see no reason not to try them. We sample the gyro during disabled mode and let a neutral point value settle out. This becomes neutral for the next 2min and 15 sec. We typically take the average of the current and last pass readings and use that, minus, the neutral point, as the error. Then with a multipler (proportional gain) like 1/4 * the error , we add the delta value to the motor pwm on the side it is drifting towards.

We just read the gyro in the main loop (38hz), and it works like a charm.