2010 Accelerometer I2C Object/Class

[Geek 2.0]

Okay, I tried it out yesterday and everything seemed to work. Only problem I had was that it floated just enough to make numbers not work for integration to position. For instance, it would float from 0.0 to about 0.007 and then back to 0.0. Problem there is that it technically never had negative acceleration to counter that, meaning the velocity doesn't go back to 0, making my position infinitely change. Even if I do make a dead band, the readings aren't perfectly symmetrical, again meaning velocity doesn't go back to zero. I don't think I'm the only one with this problem. Any suggestions as to how I can use an accelerometer to at least approximate position, accurate enough to maybe 6 inches to a foot, during autonomous?