Ok, anybody out there know how to use these *(#$#( gyro’s? Its like the only part I can’t figure out how to use… and of course nobody on our team has ever used them either so thats always a big help too.
Basically, just need to detect when the robot is at an angle or something… like when you drive onto the ramp. or when you get to the top. etc. Anyways, if you can help, I would be ever so grateful. Code always a plus:D
There’re many other threads about this.
The Yaw Rate Sensor does not detect absolute angle. It detects rotational velocity.
If you want to detect something like when you start to go up the ramp, you can wait until you see an extreme output from the sensor (the jerk as the front of the robot picks up, onto the ramp), and wait until you get another extremely low output (but high and low are relative to how you have the sensor mounted).
If you were to do this, you’d want to program a “deadband” into the system, so that smaller jerks don’t just trick your system into thinking it’s going up the ramp, when it just ran into a bin, or some such problem.
Hope this helps.
I’m sorry I don’t have any code for this, but that’s another thing I have to get around to, eventually. 
I used the search feature of the forums, and it returned 133 results.
Granted not all of them are what you’re asking, but I’m sure theres a few in there that could help you.
hmm… i got around 30 results… eh, i was never good at looking for stuff anyways