How to know robot's orientation?

[fancooling]

There are two methods, PrimeHub.imu.heading() and DriveBase.angle(). After moving straight and making turns, I realized these two methods may have different values, sometimes the difference can be as big as 3 degrees.

Which one is more accurate? Or which one uses Gyro sensor?

[laurensvalk]

If you use drivebase.use_gyro(True), your drivebase will use the gyro. It will use it for heading control, and also to report the angle.

Otherwise, it will not use the gyro, so it will rely on the wheel positions.