Best way to drive straight using a gyro?

[Ether]

Originally Posted by ProjectZero

...
protected double returnPIDInput() {

// Return your input value for the PID loop
// e.g. a sensor, like a potentiometer:
// yourPot.getAverageVoltage() / kYourMaxVoltage;
return gyro.getAngle();

}
...
protected void usePIDOutput(double output) {

// Use output to drive your system, like a motor
// e.g. yourMotor.set(output);
if (gyro.getAngle() > 1)

Not like a potentiometer. See bolded portions below:

/**
 * Return the actual angle in degrees that the robot is currently facing.
 * 
 * The angle is based on the current accumulator value corrected by the oversampling rate, the
 * gyro type and the A/D calibration values.
 * The angle is continuous, that is can go beyond 360 degrees. This make algorithms that wouldn't
 * want to see a discontinuity in the gyro output as it sweeps past 0 on the second time around.
 * 
 * @return the current heading of the robot in degrees. This heading is based on integration
 * of the returned rate from the gyro.
 */
float Gyro::GetAngle( void )