Finding the position of the robot

[Ether]

Originally Posted by ekapalka

Thanks I knew that, though. The reason I need to figure out the angle relative to the sides is so that I can calculate the reflection angle off of any one or two walls.

I think you may have misunderstood what I wrote.

The gyro gives you the angle the robot is facing relative to its starting position.

So if you start with the robot parallel to the sides then the gyro will give you the angle relative to the sides, which is what you said above you are looking for.