How to use jpearmans abs gyro code?

VEX V5 General Discussion General Forum
#1

How can i write a turning function using the gyro in conjunction with jpearmans gyro code for absolute gyro value.
Here is jpearmans code:


using namespace vex;

brain Brain;
gyro  Gyro1( Brain.ThreeWirePort.A );

int   absGyroValue = 0;

void 
gyroChanged() {
    static int lastValue;
    // get gyro value as 1/10 deg
    int value = Gyro1.value( analogUnits::range12bit );

    // calculate change in gyro value
    int delta = value - lastValue;
    lastValue = value;
    
    // delta should be small, did we overflow gyro value
    if( delta > 1800 )
      delta -= 3600;
    if( delta < -1800 )
      delta += 3600;
        
    // add change to absolute value
    absGyroValue += delta;
}

void
gyroReset() {
    absGyroValue = 0;
}

void
screenPressed() {
  gyroReset();
}

int main() {
    Gyro1.changed( gyroChanged );

    Brain.Screen.printAt( 10, 180, "Touch screen to reset" );
    Brain.Screen.pressed( screenPressed );

    while(1) {
      Brain.Screen.printAt( 10, 50, "Gyro raw %6d  ", Gyro1.value( analogUnits::range12bit ) );
      Brain.Screen.printAt( 10, 70, "Gyro abs %6d  ", absGyroValue );

      // Allow other tasks to run
      this_thread::sleep_for(10);
    }
}
#2