Wow, thankyou for all of your replies.

I forgot to mention that my crystal is 20MHz and both CCP1 and CCP2 are being used for HPWM.

I found PicMultiCalc and it is saying that I can use the 8-bit timer (Timer0) for an error of 0.371%. It says that if I use the 16-bit timer I will get an error of 0%. Now I have decided that I will use the 16-bit timer only if it won't interupt my HPWM. The HPWM is driving two motors. I am not at all familure with these timers and I don't know how to set them up or know when to start my 10ms loop so that the gyro can be read at the start of every loop at 100Hz (10ms intervals). Integration calculations and other processes are carried out after the gyro has been read. If all calculations and procesess have been done before the next loop should start, the processor should wait until the timer flag or whatever signals the loop to start over.

FYI I am making a balancing robot.