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Do NXTs or EV3s have gyro sensors or built-in gyro sensors? How can I know the direction of the robot?

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LEGO doesn't make a gyro sensor for NXT, but Hitechnic sells a gyro third party product and Mindsensors has a combo gyro/accelerometer/compass (IMU). Both can be used with EV3, and LEGO also has a gyro sensor, included in the Education kit

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