bridge balancing

[DonRotolo]

I'm not a programmer, but if this was my problems to solve, I wouldn't care about absolute gyro angle, just changes. That is, I'd have my driver press a button to "auto balance", and start the process from there.

Oh, wait: If the robot isn't on a bridge, then it might think that level = tilted.

OK, self-calibrate every 5 seconds, and take the average of the last 10 values or something.

Or just tell the driver to press 'calibrate' when the bot is level, within 20-30 seconds of getting onto the ramp.

Programmers: Am I close?