Gyro Driver

...#define SAMPLE_RATE	40/200...void AdvancedAccumulatorFinal(){	unsigned int gyrovalue = 0;	unsigned static int prevgyro;	unsigned static char calibrated;	unsigned static char samplecount;	unsigned char gyrobase;		// Sample the gyro’s output	gyrovalue = Get_Analog_Value(GYRO_INPUT);	// Handle the oversampling here	gyrovalue = gyrovalue * SAMPLE_RATE; // Be explicit!	// Is it too high?	if(gyrovalue > GYRO_MAX_HIGH || gyrovalue < GYRO_MAX_LOW)	{		// Set global Gyro overloaded flag so you know		gyro_overloaded = 1;		// I don't recommend handling anything else here, let		// something else see the flag and deal with it.	}		// Has the gyro gone through it's power up calibration yet?	if(!calibrated)	{ // It hasn't been calibrated		if(samplecount < CAL_SAMPLES)		{ // Have we finished sampling?			gyrobase += gyrovalue; // Accumulate samples		}		else 		{ // Let's average it now			// Divide samples to get average reading.			gyrobase /= CAL_SAMPLES;			// Tell the gyro it’s calibrated			calibrated = 1;		}	}	else // It has been calibrated.	{ // Accumulate it		// Now we want to convert the gyro output to signed.		// We do this by subtracting gyrobase, making the 		// reading center around 0.		// Positive is one direction, negative another, then 		// we just integrate it		// Now we're also averaging the current sample with		// the previous before normalizing it.			// The following line is split over two for		// readability		heading += (signed long)(((gyrovalue + prevgyro) / 2)	   						               – gyrobase);	}	// Last thing we do is store the gyrovalue for next time 	prevgyro = gyrovalue;}