Using PID on Talon SRX with Gyro for feedback

[Ether]

Originally Posted by GeeTwo

gyroscopes don't give you an output of what direction you're heading, but what your rate of rotation is.

True, but the WPILib Gyro class uses the FPGA to integrate the gyro's rate to give the robot's angular orientation... which is used by many teams for field-centric control and driving straight.

/**
 * Use a rate gyro to return the robots heading relative to a starting position.
 * The Gyro class tracks the robots heading based on the starting position. As
 * the robot rotates the new heading is computed by integrating the rate of
 * rotation returned by the sensor. When the class is instantiated, it does a
 * short calibration routine where it samples the gyro while at rest to
 * determine the default offset. This is subtracted from each sample to
 * determine the heading.
 */