Our team uses the first generation of navx to serve as the gyro on our swerve. But it seems that when we use the field-oriented mode , it seems that l can’t do it perfectly. l think that my code is correct . Maybe the problem is our gyro(navx) is too old. For example , does navx support the setFusedHeading()? l think that the robot angle must be continuous , it seems that getAngle() can do it , but when l test it on my swerve. The result is very strange.
Any help is appreciated!