[nathanww]

I haven't looked at the internals of the gyro class, but automatic calibrations of things can sometimes slow down if there's a lot of noise while it's trying to calibrate(so it either tries to wait until there's less noise to tries to take more samples to compensate). In your setup, there are quite a few factors that could cause this--robot movment, vibration from a compressor, electrical noise from wires or motors, etc.