[Travis Hoffman]

OK, I am trying to implement an ADXRS300 gyro on our 2009 bot using WindRiver.

I'm starting with a known-good unit from 2008. Using our bench setup, upon outputting printf's, with the gyro completely stationary, I'm getting a steady increase in gyro angle values that (from memory) is around a degree every five seconds or so. The gyro was stationary throughout the cRIO power-up process, and it is connected to Analog Input #1 on the first input module.

Last year, I used Kevin Watson's code, with much success. Kevin's code implemented a rejection deadband (ours was set to the default of 8) to help filter out junk and eliminate drift. Other than SetSensitivity (which I currently have set to 0.005 but will adjust to .00393 now that I've found the specific tuning values we used in last year's code), what other gyro setup/tuning adjustments are possible with WPILib's C++ gyro code, and how would we implement this tuning?

Thanks in advance,