Programming SPI Gyro

[GeeTwo]

We considered doing this immediately following bag-and-tag when our next-to-last analog gyro died. We had hoped to extend the AnalogChannel class and get the integration done for us by using the Gyro(AnalogChannel) constructor. We learned that the integration was done in hardware, so we would have to do it manually. A gyroscope gives you a rotation rate-of-change, so the computer must integrate that rate to determine the actual orientation. At that point, we switched to encoders instead, and trusted that the wheels didn't slip. For more info, see this thread on usfirst. We may tackle this as an off-season project, or get one of those integrated solutions (e.g. the AndyMark NavX MXP board) that are out of stock for next year.