[Bochek]

We came up with a very simple solution, Rotate the robot 360 while taking a reading from the gyro, lets say the gyro read 200 degrees.

In your code, whenever you use GetAngle(); just multiply by 360 and divide by your reading, in our case, 200.

so your code would look like

float fAngle = gyro.GetAngle()*360/200;

- Bochek