How do you fuse encoder and gyro?

[3038922]

I have a four-wheeled robot. There's an encoder on each side, and a gyroscope. I use the formula:"(encL - encR) / 2.0 * _turnScale" can get an angle. Considering the problem of wheel skidding and gyroscope self-increasing, I want to integrate them. The two values I get are both angular values, not angular velocities. I set a 10MS loop once.

[Theara-Seng]

@3038922 can I see the code of you for fuse encoder and gyro