Reading gyro before Autonomous mode

[EricS-Team180]

Originally Posted by kaszeta

At the beginning of the match, the robot is disabled, but auto mode is not yet set. It's worth noting that the bot is reading inputs, it's just not setting any outputs.

I agree with kaszeta, here. We've used AnalogDevices yaw rate sensors since 2004. While in competition (disabled) mode, we simply read the gyro and average it with the previous reading. When the mode changes, the final averaged value becomes our neutral point, which we use for the match. In the past many teams have taken several hundred samples during competition mode and created an average neutral point from them. Either way gives you a good 0 yaw rate point to use for the next 2:15

Eric