Hi all,

Can someone write a basic autonomous code like run forward, turn left 90, run forward, turn right 90? Im not exactly sure how i should integrate the time from the gyro. Thanks in advance!

Here is a thread that may answer your question.
viewtopic.php?f=52&t=3152

My next questions is do i need to integrate the gyroscope each time i use it or just integrate it once in the while loop?

I don't understand your question. Are you referring to the gyro module provided in that thread or are you talking about doing your own integration? In any case, integration is done periodically. So the integration must be call once inside the robot main loop. In other words, at the beginning of each loop, the integrator gets called. When you want to read the heading, you just call the gyro module to get the value, you don't need to call the integrator again since it's already done at the beginning of each loop.