Merge pull request #15 from applepi-2067/gordon/update/gyro_id

update gyro CAN ID and remove TalonSRX
applepi-2067 · Jan 27, 2024 · b889a19 · b889a19
2 parents 11327bb + 42f19ea
commit b889a19
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Showing 2 changed files with 2 additions and 4 deletions.
diff --git a/src/main/java/frc/robot/constants/RobotMap.java b/src/main/java/frc/robot/constants/RobotMap.java
@@ -10,7 +10,7 @@ public static class Drivetrain {
             public static final int[] STEER = {5, 6, 7, 8};
             public static final int[] CANCoder = {1, 2, 3, 4};
 
-            public static final int GYRO = 9;
+            public static final int GYRO = 1;
         }
     }
 }
diff --git a/src/main/java/frc/robot/subsystems/Drivetrain.java b/src/main/java/frc/robot/subsystems/Drivetrain.java
@@ -3,7 +3,6 @@
 
 import java.text.DecimalFormat;
 
-import com.ctre.phoenix.motorcontrol.can.TalonSRX;
 import com.ctre.phoenix.sensors.PigeonIMU;
 
 import edu.wpi.first.math.geometry.Pose2d;
@@ -70,8 +69,7 @@ private Drivetrain() {
     }
 
     // Create and reset gyro.
-    TalonSRX gyroController = new TalonSRX(RobotMap.canIDs.Drivetrain.GYRO);
-    m_gyro = new PigeonIMU(gyroController);
+    m_gyro = new PigeonIMU(RobotMap.canIDs.Drivetrain.GYRO);
     resetGyro();
 
     // Odometry.