Gyro PID Programming

[UriF]

Alright, I don't currently have the code with me so this is an approximation:

#define GYRO_SCALE(x) ((x) / 360)

/*
 * This fixes the Angle overflow problem, so the angle is always in the range
 * -360 to 360 
 */
float Gyro_FixAngle(float Angle)
{
   int Laps = Angle / 360;
   return (Angle - (Laps * 360));
}

double PIDGet()
{
   return GYRO_SCALE(Gyro_FixAngle(Gyro1->GetAngle()));
}