[Jared]

The reset() method is a bit goofy. It does some type of calibration with the cRIO when you call it, which can take up to a second to complete, or sometimes happens instantly.

The reset method not only sets the current angle to zero, but recalibrates and adjusts some unknown thing in the FPGA by writing some random value to it's memory.

To avoid this, I don't ever call their reset method, but instead add my own that will subtract the angle that was measured at the time of the reset from the current angle. This just zeros the angle rather than doing some weird calibration sequence.