Gyro Calibration

[fll-pigeons]

see Pybricks examples

   # Calibrate the gyro offset. This makes sure that the robot is perfectly
    # still by making sure that the measured rate does not fluctuate more than
    # 2 deg/s. Gyro drift can cause the rate to be non-zero even when the robot
    # is not moving, so we save that value for use later.
    while True:
        gyro_minimum_rate, gyro_maximum_rate = 440, -440
        gyro_sum = 0
        for _ in range(GYRO_CALIBRATION_LOOP_COUNT):
            gyro_sensor_value = gyro_sensor.speed()
            gyro_sum += gyro_sensor_value
            if gyro_sensor_value > gyro_maximum_rate:
                gyro_maximum_rate = gyro_sensor_value
            if gyro_sensor_value < gyro_minimum_rate:
                gyro_minimum_rate = gyro_sensor_value
            wait(5)
        if gyro_maximum_rate - gyro_minimum_rate < 2:
            break
    gyro_offset = gyro_sum / GYRO_CALIBRATION_LOOP_COUNT