In memory of Ben “bushing” Byer, who passed away on Monday, February 8th, 2016.

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20 represents turning at about 1 degree per second. So divide by 20 to get the degrees per second.
 
20 represents turning at about 1 degree per second. So divide by 20 to get the degrees per second.
Note: This only works for speed only up to 500deg/s(low speed). Unknown for high speed?
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At high speed (Low speed bit = 0) 20 represents turning at about 5 degree per second. So divide by 4 to get the degrees per second.
    
The gyros are slightly noisy, so you should assume any speed less than 0.5 degrees per second is actually zero, otherwise you will get lots of drift.
 
The gyros are slightly noisy, so you should assume any speed less than 0.5 degrees per second is actually zero, otherwise you will get lots of drift.
20

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