void Sample_Gyro(void)

{
	// The current gyro reading
	unsigned char gyro_reading;
	
	// The previous gyro reading, used to average out
	// the results
        unsigned char prev_reading;
	
	// Is the gyro calibrated or not?
        unsigned static char gyro_calibrated;
	
	// Used to count the number of samples taken thus
	// far during calibration
        unsigned static char samplecount;
	
	// The value returned when the gyro is at rest.
	// This is determined via the calibration routine.
        unsigned char gyro_rest; 
	
	
	
	// Start a conversion and wait for it to finish
	// before continuing on. [207, 220]

	ADCSRA |= (1 << ADSC);

	while(!(ADCSRA & 0x10));



	// Get the high 8 bits of the results [218]

	gyro_reading	=	ADCH;


	// Account for sampling time
	gyro_reading	=	gyro_reading	*	GYRO_SAMPLE_RATE;
	
	
	// Handle overloading. This happens when the bot is
	// spinning faster than the gyro can read. We can't
	// really do anything from here, other than set a
	// flag and let other functions know we're spinning
	// too fast.
	if(gyro_reading > GYRO_MAX_HIGH || gyro_reading < GYRO_MAX_LOW)
	{
		gyro_overloaded	=	TRUE;
	}
	
	
	// If we aren't calibrated yet, lets do that
	if(gyro_calibrated	==	 FALSE)
	{
		// We need to take a minimum amount of
		// samples to calibrate
		if(samplecount < GYRO_CAL_MIN_SAMPLES)
		{
			// Accumulate the samples
			gyro_rest	+=	gyro_reading;
		}
		else
		{
			// Average the samples to find the
			// rest point
			gyro_rest	/=	GYRO_CAL_MIN_SAMPLES;
			
			// We are done calibrating
			gyro_calibrated	=	TRUE;
			return;
		}
	}
	
	// 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.
	current_heading	+=	(signed long) (((gyro_reading + prev_reading) / 2) - gyro_rest);
	
	// We are done so set the current reading to the
	// previous
	prev_reading	=	gyro_reading;



}