Looking at the KOP Gyro

[RufflesRidge]

Originally Posted by wireties

This method is only to adjust the sensitivity which the datasheet says could be from 0.0062 to 0.0078. The bias is a different matter. My gyros always comes up at zero. How could there be a bias if one adopts the initial position of the robot as a zero degree orientation?

The bias is the voltage output when there is no rotation. For a 5V gyro this is usually 2.5V nominal. WPILib calibrates the bias of the gyro as part of the constructor. Errors in this calibration, or drift of the bias point, result in drift in the signal.

The sensitivity is measured in mV/degree/s. Your calibration is at 0 degrees/s. How does this yield usable data about the sensitivity?