[BBray_T1296]

You would likely need both. Our team tried it 2 years ago (field-relative controls), but we were never getting readings accurate enough to work super well, but that is probably our own fault, not the sensors'.

I had an idea to use a compass sensor to detect rotation, and as soon as the robot was enabled in a match, it set the "zero" for the controls, but a magnetic sensor like that would need to be far from magnets (like motors).