Better gyroscope?

[Alan Anderson]

The random drift you describe sounds like electrical noise. If the wiring from the sensor goes parallel to motor power wires, you might find the integrated value acting like that. Try shielded wire routed well away from high currents and see if it stops misbehaving.

[cjl2625]

Not sure if the WPI library was modified recently, but in 2014, when we used a regular gyro, we had similar inconsistent drifting problems. With field-centric swerve, things sometimes got really ugly.
There's a discussion about that on this thread: http://www.chiefdelphi.com/forums/sh...62#post1399062

So I ended up writing my own Gyro code. If you're using LabVIEW, I posted my code here: http://www.chiefdelphi.com/forums/sh...55#post1416955

Those changes definitely improved things.

In 2015, we got the NavX MXP, which offered further improvement, and worked great for our swerve last year. (and since the NavX comes with its own libraries, you don't need the code modifications I mentioned)