Any suggestions for Gyro displacement code?

[windell747]

Hi, We were having a hard time getting Kevin's Code to work. Since everything is link together in the header files, I didn't want to pull files from the entire set. We ended up writing or own feedback code for turning at a constant speed that works pretty well however we are now trying to write code to do the integration to find position. I hate to reinvent the wheel if someone has already made something simple especially this close to the wire.

Do any of you have code that you might be willing to share? I'm trying to keep the debugging time down to a minimum. This will be used during our autonomous mode to make consitent turns by 45 deg or 90 deg etc.

Thanks
windell