[DavisC]

So another words, if you were heading a direction recording 0. Then you used "GetAngle() + 90" when the drive is correcting itself it will think the robot turned 90 degrees to the right and will try to correct itself by turning 90 degrees to the left?
(Assuming a positive value turns the robot right and a negative value turns the robot left).

I am trying to accomplish this program without using the Reset() because that causes unpredictable angles at which it reset itself.