Why the sudden burst of code postings?

[Jared Russell]

Originally Posted by mikhalev

• We have code for interfacing with an ADXRS453 gyro here. This differs from WPILib's implementation in that it measures the delay of each run of the Notifier, providing for more accurate rate integration.

This caught my eye because we also wrote our own ADXRS453 class last season. Ours was almost entirely a copy of the wpilib ADXRS450 driver, with a couple minor tweaks: https://github.com/Team254/FRC-2016-...S453_Gyro.java

Note that your implementation for the ADXRS453 does rate integration in software at 120Hz based on a Notifier callback. The wpilib implementation does rate integration in an FPGA accumulator at 1KHz.

Your method is certainly adequate for FRC use (and it's all we could do before the cRIO era), but it isn't correct to say that it is more accurate than wpilib's implementation.