Gyro Implementation

[Guarana]

Okay, so I am still trying to get this 'installed' into my code right now. I did a little searching but it seems everyone is already past the part where I seem to get stuck. I have read the gyro_readme and I get confused on a few steps.

1) The gyro's rate output is wired to one of the analog inputs
of your robot controller and gyro.h/#define GYRO_CHANNEL is
updated with the analog channel your gyro is attached to.

5) Process_Gyro_Data() must be called when the ADC software
generates an update. An example of how to do this can be found
in user_routines_fast.c/Process_Data_From_Local_IO(). If you
use the gyro during autonomous period, Process_Gyro_Data()
must also be called from User_Autonomous_Code().

8) A gyro bias calculation must take place using the functions
Start_Gyro_Bias_Calc() & Stop_Gyro_Bias_Calc() described below.
This must be done several hundred milliseconds after the gyro
powers-up and is allowed to stabilize.

9) For optimal performance, you'll need to calibrate the gyro
scaling factor using the instructions above or those included
in gyro.h.


I'm not very experienced when it comes to this, so any help is appreciated.

Also, do I need to 'install' the adc code also to get this to work?

Thanks