feat: use pigeon instead of navx

flamingchickens1540 · Jan 27, 2024 · ebc7798 · ebc7798
1 parent d71c193
commit ebc7798
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Showing 3 changed files with 7 additions and 2 deletions.
diff --git a/src/main/java/org/team1540/robot2024/Constants.java b/src/main/java/org/team1540/robot2024/Constants.java
@@ -44,6 +44,9 @@ public static class SwerveConfig {
         public static final int FRONT_RIGHT = IS_COMPETITION_ROBOT ? 4 : 0;
         public static final int BACK_LEFT   = IS_COMPETITION_ROBOT ? 7 : 0;
         public static final int BACK_RIGHT  = IS_COMPETITION_ROBOT ? 1 : 0;
+
+        // TODO: set this id
+        public static final int PIGEON_ID = 0;
     }
     public static class Drivetrain {
         public static final double DRIVE_GEAR_RATIO = (50.0 / 14.0) * (17.0 / 27.0) * (45.0 / 15.0);

diff --git a/src/main/java/org/team1540/robot2024/RobotContainer.java b/src/main/java/org/team1540/robot2024/RobotContainer.java
@@ -50,7 +50,7 @@ public RobotContainer() {
                 // Real robot, instantiate hardware IO implementations
                 drivetrain =
                         new Drivetrain(
-                                new GyroIONavx(),
+                                new GyroIOPigeon2(),
                                 new ModuleIOTalonFX(SwerveFactory.getModuleMotors(SwerveConfig.FRONT_LEFT, SwerveFactory.SwerveCorner.FRONT_LEFT)),
                                 new ModuleIOTalonFX(SwerveFactory.getModuleMotors(SwerveConfig.FRONT_RIGHT, SwerveFactory.SwerveCorner.FRONT_RIGHT)),
                                 new ModuleIOTalonFX(SwerveFactory.getModuleMotors(SwerveConfig.BACK_LEFT, SwerveFactory.SwerveCorner.BACK_LEFT)),

diff --git a/src/main/java/org/team1540/robot2024/subsystems/drive/GyroIOPigeon2.java b/src/main/java/org/team1540/robot2024/subsystems/drive/GyroIOPigeon2.java
@@ -8,11 +8,13 @@
 import edu.wpi.first.math.util.Units;
 import org.team1540.robot2024.util.PhoenixTimeSyncSignalRefresher;
 
+import static org.team1540.robot2024.Constants.SwerveConfig.*;
+
 /**
  * IO implementation for Pigeon2
  */
 public class GyroIOPigeon2 implements GyroIO {
-    private final Pigeon2 pigeon = new Pigeon2(20);
+    private final Pigeon2 pigeon = new Pigeon2(PIGEON_ID);
     private final StatusSignal<Double> yaw = pigeon.getYaw();
     private final StatusSignal<Double> yawVelocity = pigeon.getAngularVelocityZDevice();