For a concrete example of why things is far easier this year, consider the idea of having a servo always 'pointing' in the same direction
Code:
double angle = 360 - fabs(fmod(gyro.GetAngle(), 360));
if (angle > 180)
angle = angle - 180;
servo.SetAngle(angle);
Thats it. No annoying angle calculations, no integrating values for the gyro or figuring out the correct PWM signal to send to the servo -- just GetAngle() and SetAngle().Of course, its not perfect since we were only experimenting to see how well the servo/gyro played together... but it took all of a minute to write that code. Far more effort would have been expended in previous years.