PMOD Gyroscope off set


For a school project we are trying to build a balancing robot using the MyRio. We managed to make everything and program a PID-controller. However, our gyroscope is not functioning as we want. There is an off-set in the gyroscope and it is (probably) not fast enough. If we shake the robot quite fast and then turn it back to it's original position, the angular displacement is not the same as befor, which is quite critical for a balancing robot

How can I use the gyroscope to make it faster and how can I get rid of this off-set?

Thanks in advance!

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