in my code error = gyrovalue-setpoint , may be you are right but i thought i will meet specialized people who can get the point just like to look at the CODES
however , my friend in the code there is no difference
eg.
3-2 = 1
2-3 = -1 just multiply it by -1 and you will get the desired value
i dont get to be restricted with what people consider as principles ( or correct phrases ) and all the issue of this post is about (change ) as i got satisfying results at the end......
again i thought just looking at the code for any expert than me will help , yes gyrovalue is the change of angle and that is a basic work of gyro does it give any thing else , i mean the gyro ?? it gives basically degrees/sec
i just mentioned gyro signals this means no accelometer or any else sensor was used .....
here is the block diagram
i don't know if i make it clear , i hope
the picture may help
