Gyro sensors attached to my hand measure the angular velocity. The rate is integrated and the angle is feed as set-point to the motors.
Code is here:
http://popak.org/ robot/hand2_v3.c
Next revision of EVDO is here ...
Hi res version can be seen here:
http://mfile.akam ai.com/8499/wmv/qual comm.download.akamai .com/8499/1xEV/1x_EV DO_Rev_B_Demo.asx
I use a gyro as a compass by integrating the output of the gyro. I drive the motor by feeding it the difference between the motors current angle and the integral of the gyro output.