Master Code

[Alan Anderson]

Originally Posted by JBotAlan

Correct me if I'm wrong, but the gyroscope gives you an *analog* value; interrupts are irrelevant when working with analog sources.

You're not exactly wrong, but it sounds like you haven't worked with the gyro. In order to get the best results from a gyro-based control routine, the analog value must be sampled with extremely regular timing. Kevin Watson provides a framework for using the gyro which does use interrupts to do the analog conversions in the background.

Putting his encoder and gyro software together isn't particularly complicated, but getting the interrupt service routines combined properly does take some thought.