Java Gyro help

[tophkissane]

We are using a field-centric drive system this year with mecanum wheels. In autonomous we want to start with the side of the robot facing down field so instead of restarting the gyro we want it to start at 90 degrees. I am having trouble figuring out how to do this though. Any help is much appreciated

[Ether]

Originally Posted by tophkissane

We are using a field-centric drive system this year with mecanum wheels. In autonomous we want to start with the side of the robot facing down field so instead of restarting the gyro we want it to start at 90 degrees. I am having trouble figuring out how to do this though. Any help is much appreciated

Just zero it, then add 90 degrees to the value you read from the gyro.