From 42f19ea2c70caf9385b8c19ad7fe9993b0ffbcef Mon Sep 17 00:00:00 2001
From: Gordon Chen <gordonbchen@gmail.com>
Date: Sat, 27 Jan 2024 14:49:43 -0500
Subject: [PATCH] update gyro CAN ID and remove TalonSRX

---
 src/main/java/frc/robot/constants/RobotMap.java    | 2 +-
 src/main/java/frc/robot/subsystems/Drivetrain.java | 4 +---
 2 files changed, 2 insertions(+), 4 deletions(-)

diff --git a/src/main/java/frc/robot/constants/RobotMap.java b/src/main/java/frc/robot/constants/RobotMap.java
index a2bcc10..0568ab3 100644
--- 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
index 5c8d658..bd94014 100644
--- 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.