From 6b2773ee60691907610feae111104537ec456d85 Mon Sep 17 00:00:00 2001
From: Nilesh Agarwalla <49494444+BrownGenius@users.noreply.github.com>
Date: Fri, 26 Jan 2024 21:14:56 -0500
Subject: [PATCH] Yagsl 2024.4.7 Un-Inverted IMU (#18)

* Update YAGSL to 2024.4.6.2
* No longer invert IMU because YAGSL automatically inverts NavX by default.
* Reduce max speed for testing/safety purposes.
---
 src/main/deploy/swervePracticeBot/swervedrive.json            | 4 ++--
 .../java/frc/robot/subsystems/drive/DriveSwerveYAGSL.java     | 2 +-
 vendordeps/yagsl.json                                         | 4 ++--
 3 files changed, 5 insertions(+), 5 deletions(-)

diff --git a/src/main/deploy/swervePracticeBot/swervedrive.json b/src/main/deploy/swervePracticeBot/swervedrive.json
index d2b6dbd5..da972747 100644
--- a/src/main/deploy/swervePracticeBot/swervedrive.json
+++ b/src/main/deploy/swervePracticeBot/swervedrive.json
@@ -1,10 +1,10 @@
 {
   "imu": {
-    "type": "navx_mxp",
+    "type": "navx_spi",
     "id": 0,
     "canbus": null
   },
-  "invertedIMU": true,
+  "invertedIMU": false,
   "modules": [
     "frontleft.json",
     "frontright.json",
diff --git a/src/main/java/frc/robot/subsystems/drive/DriveSwerveYAGSL.java b/src/main/java/frc/robot/subsystems/drive/DriveSwerveYAGSL.java
index 9699663d..5f902615 100644
--- a/src/main/java/frc/robot/subsystems/drive/DriveSwerveYAGSL.java
+++ b/src/main/java/frc/robot/subsystems/drive/DriveSwerveYAGSL.java
@@ -9,7 +9,7 @@
 
 public class DriveSwerveYAGSL extends DriveBase {
   private final double maximumSpeed =
-      Units.feetToMeters(4.5); // * TODO: Calculate actual max speed */
+      Units.feetToMeters(2); // * TODO: Calculate actual max speed */
   private final File swerveJsonDirectory =
       new File(Filesystem.getDeployDirectory(), "swervePracticeBot");
   private SwerveDrive swerveDrive;
diff --git a/vendordeps/yagsl.json b/vendordeps/yagsl.json
index 1840cf63..12119db1 100644
--- a/vendordeps/yagsl.json
+++ b/vendordeps/yagsl.json
@@ -1,7 +1,7 @@
 {
     "fileName": "yagsl.json",
     "name": "YAGSL",
-    "version": "2024.4.5",
+    "version": "2024.4.7",
     "frcYear": "2024",
     "uuid": "1ccce5a4-acd2-4d18-bca3-4b8047188400",
     "mavenUrls": [
@@ -12,7 +12,7 @@
         {
             "groupId": "swervelib",
             "artifactId": "YAGSL-java",
-            "version": "2024.4.5"
+            "version": "2024.4.7"
         }
     ],
     "jniDependencies": [],