Gyro Drift

[Ben Wolsieffer]

This looks like the gyro used to be included in the KOP. We used that gyro in 2014 and 2015, and it worked well enough to be used for field oriented driving throughout the match, but it does drift faster than some of the other options.

When the robot code initializes, the gyro gets calibrated and the robot must not be moving at all during this time.

It is possible that the gyro is damaged, possibly by ESD or impacts. I believe we damaged two of these gyros while crossing defenses in 2016, although I don't know for sure what caused them to fail. They started drifting unpredictably, so we decided use a NavX instead, which worked very well. I have heard good things about the WCP Spartan board as well, but I have not used it.