[baronep]

So this summer I have decided to work on programming challenges that would make our team more competitive during the FIRST season but that wouldn't necessarily have time to do during the first season.

One problem I'm trying to tackle is how can I use the gyro deg/sec output to calibrate a realtime auto trim for out robot. We have a mechanum system btw. I think I really only need to trim the z axis (rotation) so the accelerometer wouldn't be used. I need to figure out the correct formula to modify the z joystick value based on the gyro input and the current z axis joystick input (as if I were turning).

Does anyone have any ideas as to how to do this?