Accelerometer Bias

[miketwalker]

I've made our own gyro/accelerometer code because I wanted to do some various things other than what Kevin Watson's code (which is excellently made) did. The gyro code works fine now, however because of the accelerometers' extreme sensitivity, I was wondering how you can make a code to remove the accelerometer bias. My code gets it between 511-512... but since it's an int it goes one way or the other... and by having it at 511... it is enough to quickly make the robot velocity appear as though it is getting negative.

Has anyone else made their own accelerometer code and found a way to fix this? Thanks!