[efoote868]

Originally Posted by Jogo

Our team used field centric control this year. However, because the robot starts facing the driver, the gyro's zero position is skewed by 180 degrees.

As the robot is shipped and I don't have a mecanum test environment anymore, I'm trying to convince myself of how this can be resolved.

1) always add 180 to the gyro angle before using it
2) negate both joystick axes (this is the one I'm particularly interested in)

Are both of these solutions valid, and equivalent?

Thanks for your help. This is probably a really simple question, I'm just having trouble visualizing it.

From experience, having an offset angle in the code along with a comment why its there is much more helpful to people (including yourself in a week after you put it there) then seemingly randomly messing with joystick axes / wheel outputs.
Also, if you ever have the robot start in a different orientation, changing an angle is much more convenient than changing your joystick input, especially if its an awkward angle like 45 degrees.