On our 2004 robot we utilize, not one, but two gyros. Our horizontally mounted gyro is employed to compute our robot’s heading, both relative and absolute, while our vertically mounted gyro is used to detect x-axis tilt.
Code samples will be provided throughout this paper to explain our programm...
Creatively solving problems is part of the fun. Continuous improvement and sustainment of [old] programs is also important. - tim-tim [more] 
