.. include:: # Gyroscopes - Hardware .. note:: This section covers gyro hardware. For a software guide to gyros, see :ref:`docs/software/hardware-apis/sensors/gyros-software:Gyroscopes - Software`. Gyroscopes (or "gyros", for short) are devices that measure rate-of-rotation. These are particularly useful for stabilizing robot driving, or for measuring heading or tilt by integrating (adding-up) the rate measurements to get a measurement of total angular displacement. Several popular FRC\ |reg| devices known as :ref:`IMUs ` (Inertial Measurement Units) combine 3-axis gyros, accelerometers, and other position sensors into one device. Some popular examples are: - [CTRE Pigeon 2.0 IMU](https://store.ctr-electronics.com/pigeon-2/) - [Kauai Labs NavX](https://pdocs.kauailabs.com/navx-mxp/) The most common type of Gyros used in FRC are three-axis gyros, commonly included in IMUs. Three-axis gyros measure rotation rate around all three spatial axes (typically labeled x, y, and z). The motion around these axis is called pitch, yaw, and roll. .. image:: images/gyros-hardware/drive-yaw-pitch-roll.svg :alt: The 3 axis: yaw, pitch, and roll, and how they relate to robot movement. :width: 400 .. note:: The coordinate system shown above is often used for three axis gyros, as it is a convention in avionics. Note that other coordinate systems are used in mathematics and referenced throughout WPILib. Please refer to the :ref:`Drive class axis diagram` for axis referenced in software. Peripheral three-axis gyros typically communicate over the :ref:`CAN Bus ` to send data.