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Re: gyro values
You kinda have to understand the gyro works. It detects in rate of change in angle (d/dtheta), so you have to integrate (calculus, yay!) the input data to get the angle.
Now how the method works, (or I think it works, I haven't played around with the new WPI lib) is that it integrates the input data while subtracting the initial voltage (something like 1.25v).
To answer your question, lets say you start off. You turn it on and the sensor intializes. The angle is then zero, you turn it counterclock wise, the values goes from 0 to 360 then to 720, etc. etc. but if you turn it on and turn it clockwise, you get values from -1 to -360 then to -720 and onwards.
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