private Vector gyroListeners;
private double spikeThreshold = 1.0;
private double changeThreshold = .01;
public GRTGyro(int channel, int pollTime, String id) {
gyro = new Gyro(channel);
setSleepTime(pollTime);
setState("Angle", 0.0);
gyroListeners = new Vector();
this.id = id;
}