hey Jinx

Is the real problem a case of the gyro sending messages only when it can
justify sending a difference message?

What I envisage is that if the gyro moves a large amount then it rapidly
sends a message showing a large difference, which requires you to move your
motors a large distance. When the gyro moves a small amount it has to wait a
long time to sense a position change or timeout period to send the next
message. This means you have a long period to move your motor a small
amount, i.e. the time between messages is inverse to the amount of movement,
which is the inverse of what you want to maintain the motors at a constant
stepping rate :)

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