Kauai Labs navX-MXP User Manual page 46

Examples
Rotate to Angle (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. This example also includes a "Rotate to angle" feature, using a
PID controller; note that if "Rotate to Angle is used while in motion, it causes the robot to drive
in a straight line, correcting for lateral drift.
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