diff --git a/src/main/java/frc4388/robot/RobotMap.java b/src/main/java/frc4388/robot/RobotMap.java
index e1a44a5..31200e1 100644
--- a/src/main/java/frc4388/robot/RobotMap.java
+++ b/src/main/java/frc4388/robot/RobotMap.java
@@ -38,13 +38,10 @@ public class RobotMap {
   public SwerveModule leftBack;
   public SwerveModule rightBack;
 
-  public WPI_Pigeon2 gyro;
 
   public RobotMap() {
     configureLEDMotorControllers();
     configureDriveMotors();
-
-    gyro = new WPI_Pigeon2(GyroConstants.ID);
   }
 
   /* LED Subsystem */
diff --git a/src/main/java/frc4388/robot/subsystems/SwerveDrive.java b/src/main/java/frc4388/robot/subsystems/SwerveDrive.java
index f30e8ff..d6cb9e9 100644
--- a/src/main/java/frc4388/robot/subsystems/SwerveDrive.java
+++ b/src/main/java/frc4388/robot/subsystems/SwerveDrive.java
@@ -33,10 +33,10 @@ public class SwerveDrive extends SubsystemBase {
   
   private SwerveDriveKinematics kinematics = new SwerveDriveKinematics(leftFrontLocation, rightFrontLocation, leftBackLocation, rightBackLocation); 
   
-  private WPI_Pigeon2 gyro;
+  private RobotGyro gyro;
 
   /** Creates a new SwerveDrive. */
-  public SwerveDrive(SwerveModule leftFront, SwerveModule rightFront, SwerveModule leftBack, SwerveModule rightBack, WPI_Pigeon2 gyro) {
+  public SwerveDrive(SwerveModule leftFront, SwerveModule rightFront, SwerveModule leftBack, SwerveModule rightBack, RobotGyro gyro) {
     this.leftFront = leftFront;
     this.rightFront = rightFront;
     this.leftBack = leftBack;