Bias Calc

[DustinB_3]

I am using Kevin Watson's gyro code and I was wondering if the bias calculation carries over into autonomous. The reason I am asking is that I am trying to also use Kevin's navigation code and am having trouble changing the bias calculation in robot.c to fit his new from of bias calculation. Help is appreciated.

[JonathanLKS]

Once the bias of the gyro is calcuated once anywhere, it'll stay that way until you reset it or you turn of the RC (or something wierd happens to the RC's memory of course...).
Alternativly you could find the bias, output the bias, and then code the bias directly in using the number you found without actually calculating it at the start of the autonomous

P.S. If you don't have a consistent gyro the second part might not be the smartest thing, but if it seems to have the same bias all the time it can be a good idea (we used it last year)

[DustinB_3]

Thanks. Thats very helpful. In robot.c there was a command called Calc_Gyro_Bias and the new encoder code doesn't have the same function. What would I do to do exactly the same thing or does this mean that I don't have to do the bias calculation that is in robot.c?