Problems with the gyro

[Conan]

Our team is having problems with our gyro. We are using the KOP gyro with Kevin Watson's gyro code. I'm pretty sure everything's been implemented properly. We tried to just compile the code that Kevin provided, and the output results don't make sense.

The gyro_angle output starts are zero. What happens from there varies. I haven't been able to find a definate pattern. Sometimes when we turn it the output displays exactly what we feel it should. However, other times, the results don't make any sense. We might turn the gyro (slowly), and the gyro_angle does not change at all, while sometimes we can set the gyro down on a table and the gyro_angle goes wild and gives random values.

We can't really pinpoint the cause of the problem, but if any of you have encountered anything close, please share. Thanks for all of your help.