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i am trying to calculate angles and velocity.

i believe i have to use PID (never done before)

angles

i have a sensor that is giving a relative angular rotation in degrees per a second

i can sample this a 300htz

but how can i figure out if i have turned x^{o}and i how can i reduce the cumulative error

velocity

i have a sensor that is giving acceleration in g's

i can sample this a 300htz

but how can i figure out if i am moving @ x ms^{-2}and i how can i reduce the cumulative error

thanks,

brad

if this is in the wrong spot please move it

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# Calculating angles,calculating velocity

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