Kauai Labs navX-MXP User Manual page 43

Examples
Field-Oriented Drive (FRC)
Teleop.vi
The Teleop.vi is modified to feed the current navX-MXP "Yaw" angle reading to the Holonomic
Drive VI, which rotates the joystick X/Y coordinates by the gyro angle (and thus implements
FieldCentric drive control). Additionally, if a driver joystick button is pressed, the navX-MXP
"Yaw" angle is reset to zero. The navX-MXP Device TypeDef is passed to the Teleop.vi via a VI
input terminal.
40