[Tparbotmail]

Thank you for the quick reply. I was able to complete a successful test of the rotate to angle code with last year's mecanum robot. The rio and NavX were perpendicular to the earth surface. The omnimount worked as described. All the turns were crisp and the out of the box PID worked great. There was a little overshoot but corrected nicely. I am going to have the electrical team mount the rio to default orientation, but I am not concerned now.