If possible, mount the navX-sensor near the center of rotation

Since a navX-sensor measures rotation, errors in the measured angles can occur if a navX-sensor is mounted at a point not near the robot center of rotation. For optimal results, navx-sensor should be mounted at the robot’s center of rotation. If a navX-sensor cannot be mounted near the robot’s center of rotation, the offset from the center of rotation can be used to correct the yaw angle. If the navX-sensor circuit board cannot be mounted near the robot’s center of rotation, small amounts of error that may be noticeable can occur.