Kauai Labs navX2-MXP User Manual page 43

Examples
Field-Oriented Drive (FRC)
Teleop.vi
The Teleop.vi is modified to feed the current navX-sensor "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-sensor "Yaw" angle is reset to zero.
The navX Device TypeDef is passed to the Teleop.vi via a VI input terminal.
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