Gyro and Encoder

If it’s possible, how would I go about programming the wheels to turn with the values of the encoders and the gyro? Would I have to program a PID to move forward and use the gyro to turn?

I’m not very good at programming but I think you should use the encoders to move in a straight line with PID and use the gyro to turn with PID. You can use the accelerometer in the inertial sensor to move in a straight line but I’ve heard that it’s bad because the refresh rate is 10ms

I don’t know what programming software you are using, but here are some relevant videos for incorporating gyro within drive and turn functions using PROS:

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Thanks! I’m using PROS so this is helpful

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