Gyro.c

#pragma config(Sensor, in2,    gyro,           sensorGyro)
//*!!Code automatically generated by 'ROBOTC' configuration wizard               !!*//
bool  gyro_valid = false;
float gyro_angle;

task runGyro()
{
int     realBias;
    int     value;
    float   angle;
    float   offsetAngle;


SensorType[gyro] = sensorNone;
wait10Msec(50);
SensorType[gyro]= sensorGyro;
wait10Msec(50);
realBias = SensorBias[gyro];
SensorBias[gyro] = SensorBias[gyro] - 1000;

wait10Msec(100);

SensorScale[gyro] = 130;

offsetAngle =  SensorValue[gyro];
while(true){
	     value = SensorValue[gyro];

        // Create float angle, remove offset
        angle = (value - offsetAngle) / 10.0;

        // normalize into the range 0 - 360
        if( angle < 0 )
            angle += 360;

        // put in global for display
        gyro_angle = angle;

        // We can use the angle
        gyro_valid = true;

        // Delay
        wait1Msec( 20 );
        //writeDebugStreamLine("Angle %f", gyro_angle);
        }
}
task main(){
	startTask(runGyro);
	while(true){
		writeDebugStreamLine("Angle %f", gyro_angle);
	}
}