gyro problem

[Guarana]

I have the gyro on the analog input 01. i am using kevin's code with the gyro and adc enabled. i am getting a reading in the printf for both the rate and the angle. coding it is the trouble.

i am using mecanum programming i found from alan. it works very well on its own.

/*******************
function:	deadband()
inputs:	inp, input value
		center, value of input that represents neutral
		band, size of deadband to consider neutral
output:	scaled and deadband-compensated output value
		inputs below center will yield negative output
		inputs above center will yield positive output
		inputs within deadband either side of center will yield 0
usage:	typically call with joystick value (0-254) as input,
		joystick neutral (127) as center, and a small number (5)
		as the size of the deadband.  The white POS joysticks
		should probably have a much larger band (10) instead.
*******************/
int deadband(int inp, int center, int band)
{
int oup;
	if (inp < center-band)
		oup = inp - center + band;
	if (center-band <= inp && inp <= center+band)
		oup = 0;
	if (center+band < inp)
		oup = inp - center - band;
	return oup;
}

/*********************
function:	pwm_limit()
inputs:	inp, input value
output:	scaled and range-limited output value
usage:	call with signed value (+/- 127) as input,
		will return a valid pwm value
*********************/
unsigned char pwm_limit (signed int inp)
{
	if(inp<-127)
		inp = -127;
	if (inp>127)
		inp = 127;
	inp = inp+127;

	return (char)inp;
}



void Teleop(void)
{

	l_y = deadband(p1_y,127,10);
	r_y = deadband(p2_y,127,10);
	l_x = deadband(p1_x,127,10);
	r_x = deadband(p2_x,127,10);

	l_y = l_y/2;
	r_y = r_y/2;
	l_x = l_x/2;
	r_x = r_x/2;

	speed = l_y+r_y;
	turn = l_y-r_y;
	slide = -l_x-r_x; 

/*

	if(temp_gyro_angle <= -75) //gyro
	{
		turn = turn+15;
	}
	if(temp_gyro_angle >= 75)
	{
		turn = turn-15;
	}

*/
  	front_r = speed-turn+slide;
	front_l = speed+turn-slide;
	back_r = speed-turn-slide;
	back_l = speed+turn+slide;


	pwm01 = pwm_limit(front_r);
	pwm02 = 255 - pwm_limit(front_l);
	pwm03 = pwm_limit(back_r);
	pwm04 = 255 - pwm_limit(back_l);

}

The commented out part is mine. It is simple and looks like it should work, but whenever the gyro is plugged in, the victors 'flicker'. the orange lights flash very quick, and the wheels get a quick power burst to it, over and over. when the gyro is unplugged, its fine.

suggestions?