Remove RobotGyro

src/main/java/frc4388/robot/Robot.java

@@ -45,6 +45,8 @@ public class Robot extends LoggedRobot {
    */
   @Override
   public void robotInit() {
+    // Start logging with AdvantageKit
+    startLogging();
 
     // Instantiate our RobotContainer.  This will perform all our button bindings, and put our
     // autonomous chooser on the dashboard.
@@ -221,7 +223,7 @@ public class Robot extends LoggedRobot {
     // Record metadata
     Logger.recordMetadata("ProjectName", BuildConstants.MAVEN_NAME);
     Logger.recordMetadata("BuildDate", BuildConstants.BUILD_DATE);
-    Logger.recordMetadata("GitSHA", BuildConstants.GIT_SHA);
+    Logger.recordMetadata("Git+SHA", BuildConstants.GIT_SHA);
     Logger.recordMetadata("GitDate", BuildConstants.GIT_DATE);
     Logger.recordMetadata("GitBranch", BuildConstants.GIT_BRANCH);
     switch (BuildConstants.DIRTY) {

src/main/java/frc4388/robot/constants/BuildConstants.java

@@ -7,12 +7,12 @@ public final class BuildConstants {
   public static final String MAVEN_GROUP = "";
   public static final String MAVEN_NAME = "2025RidgeScape";
   public static final String VERSION = "unspecified";
-  public static final int GIT_REVISION = 165;
+  public static final int GIT_REVISION = 166;
-  public static final String GIT_SHA = "bf4da44338d8e91c50e34c3ac68dc12f9d335b08";
+  public static final String GIT_SHA = "c183c08a3d92ff8561bef96dad52b8dd64d94f14";
-  public static final String GIT_DATE = "2025-07-11 14:07:53 MDT";
+  public static final String GIT_DATE = "2025-07-11 17:58:22 MDT";
   public static final String GIT_BRANCH = "advantagekit";
-  public static final String BUILD_DATE = "2025-07-11 17:46:28 MDT";
+  public static final String BUILD_DATE = "2025-07-13 19:23:17 MDT";
-  public static final long BUILD_UNIX_TIME = 1752277588371L;
+  public static final long BUILD_UNIX_TIME = 1752456197462L;
   public static final int DIRTY = 1;
 
   private BuildConstants(){}

src/main/java/frc4388/robot/subsystems/DiffDrive.java

@@ -8,13 +8,13 @@
 package frc4388.robot.subsystems;
 
 import com.ctre.phoenix6.controls.Follower;
+import com.ctre.phoenix6.hardware.Pigeon2;
 import com.ctre.phoenix6.hardware.TalonFX;
 
 import edu.wpi.first.wpilibj.drive.DifferentialDrive;
-import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard;
 import edu.wpi.first.wpilibj2.command.SubsystemBase;
 import frc4388.robot.constants.DriveConstants;
-import frc4388.utility.RobotGyro;
+// import frc4388.utility.RobotGyro;
 import frc4388.utility.compute.RobotTime;
 import frc4388.utility.status.Status;
 import frc4388.utility.status.FaultReporter;
@@ -34,13 +34,13 @@ public class DiffDrive extends SubsystemBase implements Queryable {
   private TalonFX m_leftBackMotor;
   private TalonFX m_rightBackMotor;
   private DifferentialDrive m_driveTrain;
-  private RobotGyro m_gyro;
+  private Pigeon2 m_gyro;
 
   /**
    * Add your docs here.
    */
   public DiffDrive(TalonFX leftFrontMotor, TalonFX rightFrontMotor, TalonFX leftBackMotor,
-      TalonFX rightBackMotor, DifferentialDrive driveTrain, RobotGyro gyro) {
+      TalonFX rightBackMotor, DifferentialDrive driveTrain, Pigeon2 gyro) {
     
     FaultReporter.register(this);
 
@@ -56,8 +56,6 @@ public class DiffDrive extends SubsystemBase implements Queryable {
 
   @Override
   public void periodic() {
-    m_gyro.updatePigeonDeltas();
-
     if (m_robotTime.m_frameNumber % DriveConstants.SMARTDASHBOARD_UPDATE_FRAME == 0) {
       updateSmartDashboard();
     }
@@ -84,9 +82,9 @@ public class DiffDrive extends SubsystemBase implements Queryable {
   private void updateSmartDashboard() {
 
     // Examples of the functionality of RobotGyro
-    SmartDashboard.putBoolean("Is Gyro a Pigeon?", m_gyro.m_isGyroAPigeon);
+    // SmartDashboard.putBoolean("Is Gyro a Pigeon?", m_gyro.m_isGyroAPigeon);
-    SmartDashboard.putNumber("Turn Rate", m_gyro.getRate());
+    // SmartDashboard.putNumber("Turn Rate", m_gyro.getRate());
-    SmartDashboard.putNumber("Gyro Pitch", m_gyro.getPitch());
+    // SmartDashboard.putNumber("Gyro Pitch", m_gyro.getPitch());
     //SmartDashboard.putData(m_gyro);
   }
 

src/main/java/frc4388/utility/RobotGyro.java

@@ -1,271 +0,0 @@
-/*----------------------------------------------------------------------------*/
-/* Copyright (c) 2018-2019 FIRST. All Rights Reserved.                        */
-/* Open Source Software - may be modified and shared by FRC teams. The code   */
-/* must be accompanied by the FIRST BSD license file in the root directory of */
-/* the project.                                                               */
-/*----------------------------------------------------------------------------*/
-
-package frc4388.utility;
-
-// import com.ctre.phoenix.sensors.WPI_Pigeon2;
-import com.ctre.phoenix6.hardware.Pigeon2;
-import com.kauailabs.navx.frc.AHRS;
-
-// import edu.wpi.first.wpilibj.GyroBase;
-// import edu.wpi.first.wpilibj.interfaces.Gyro;
-import edu.wpi.first.math.MathUtil;
-import edu.wpi.first.math.geometry.Rotation2d;
-import frc4388.utility.compute.RobotTime;
-import frc4388.utility.compute.RobotUnits;
-
-/**
- * Gyro class that allows for interchangeable use between a pigeon and a navX
- */
-public class RobotGyro {
-    private RobotTime m_robotTime = RobotTime.getInstance();
-
-    private Pigeon2 m_pigeon = null;
-    private AHRS m_navX = null;
-    public boolean m_isGyroAPigeon; //true if pigeon, false if navX
-
-    private double m_lastPigeonAngle;
-    private double m_deltaPigeonAngle;
-
-    private double pitchZero = 0;
-    private double rollZero = 0;
-
-    /**
-     * Creates a Gyro based on a pigeon
-     * @param gyro the gyroscope to use for Gyro
-     */
-    public RobotGyro(Pigeon2 gyro) {
-        m_pigeon = gyro;
-        m_isGyroAPigeon = true;
-    }
-
-    /**
-     * Creates a Gyro based on a navX
-     * @param gyro the gyroscope to use for Gyro
-     */
-    public RobotGyro(AHRS gyro){
-        m_navX = gyro;
-        m_isGyroAPigeon = false;
-    }
-
-    /**
-     * Resets yaw, pitch, and roll.
-     */
-    public void resetZeroValues() {
-        if (!m_isGyroAPigeon) return;
-
-        // pitchZero = m_pigeon.getPitch();
-        // rollZero =  m_pigeon.getRoll();
-    }
-
-    /**
-     * Run in periodic if you are using a pigeon. Updates a delta angle so that it can calculate getRate(). Note
-     * that the getRate() method for a navX will likely be much more accurate than for a pigeon.
-     */
-    public void updatePigeonDeltas() {
-        double currentPigeonAngle = getAngle();
-        m_deltaPigeonAngle = currentPigeonAngle - m_lastPigeonAngle;
-        m_lastPigeonAngle = currentPigeonAngle;
-    }
-
-    /**
-     * <p>NavX:
-     * <p>Calibrate the gyro by running for a number of samples and computing the center value. Then use
-     * the center value as the Accumulator center value for subsequent measurements. It's important to
-     * make sure that the robot is not moving while the centering calculations are in progress, this
-     * is typically done when the robot is first turned on while it's sitting at rest before the
-     * competition starts.
-     * 
-     * <p>Pigeon:
-     * <p>Calibrate the gyro by collecting data at a range of tempuratures. Allow pigeon to cool, then boot
-     * into calibration mode. For faster calibration, use a heat lamp to heat up the pigeon. Once the pigeon
-     * has seen a reasonable range of tempuratures, it will exit calibration mode. It's important to
-     * make sure that the robot is not moving while the tempurature calculations are in progress, this
-     * is typically done when the robot is first turned on while it's sitting at rest before the
-     * competition starts.
-     */
-    public void calibrate() {
-        return;
-        // if (m_isGyroAPigeon) {
-        //     m_pigeon.calibrate();
-        // } else {
-        //     m_navX.calibrate();
-        // }
-    }
-
-    public void reset() {
-        resetZeroValues();
-
-        if (m_isGyroAPigeon) {
-            m_pigeon.setYaw(0);
-        } else {
-            m_navX.reset();
-        }
-
-    }
-
-    public void reset(double val) {
-        resetZeroValues();
-
-        if (m_isGyroAPigeon) {
-            m_pigeon.setYaw(val);
-        } else {
-            m_navX.reset();
-        }
-
-    }
-
-    public void resetFlip() {
-        resetZeroValues();
-
-        if (m_isGyroAPigeon) {
-            m_pigeon.setYaw(180);
-        } else {
-            m_navX.reset();
-        }
-
-    }
-
-    public void resetNinety() {
-        resetZeroValues();
-        
-        if (m_isGyroAPigeon) {
-            m_pigeon.setYaw(90);
-        } else {
-            m_navX.reset();
-        }
-        
-    }
-
-    public void resetTwoSeventy() {
-        resetZeroValues();
-
-        if (m_isGyroAPigeon) {
-            m_pigeon.setYaw(270);
-        } else {
-            m_navX.reset();
-        }
-
-    }
-
-    public void resetRightSideBlue() {
-        resetZeroValues();
-
-        if (m_isGyroAPigeon) {
-            m_pigeon.setYaw(60);
-        } else {
-            m_navX.reset();
-        }   
-
-    }
-
-    public void resetAmpSide() {
-        resetZeroValues();
-
-        if (m_isGyroAPigeon) {
-            m_pigeon.setYaw(-60);
-        } else {
-            m_navX.reset();
-        }   
-
-    }
-
-    /**
-	 * Get Yaw, Pitch, and Roll data.
-	 *
-	 * @return ypr_deg Array with yaw[0], pitch[1], and roll[2] data.
-	 *					Yaw is within [-368,640, +368,640] degrees.
-	 *					Pitch is within [-90,+90] degrees.
-	 *					Roll is within [-90,+90] degrees.
-     */
-    private double[] getPigeonAngles() {
-        //m_pigeon.getAngle(); // This appeared to not do anything?
-        var rotation = m_pigeon.getRotation3d();
-
-        return new double[] {RobotUnits.radiansToDegrees(rotation.getX() - rollZero), RobotUnits.radiansToDegrees(rotation.getY() - pitchZero), RobotUnits.radiansToDegrees(rotation.getZ())};
-    }
-
-    public Rotation2d getRotation2d() {
-        return m_pigeon.getRotation2d();
-    }
-
-    public double getAngle() {
-        if (m_isGyroAPigeon) {
-            return getPigeonAngles()[2];
-        } else {
-            return m_navX.getAngle();
-        }
-    }
-
-    public double getYaw() {
-       return this.getAngle();
-    }
-
-    /**
-     * Gets an absolute heading of the robot
-     * @return heading from -180 to 180 degrees
-     */
-    public double getHeading() {
-        return getHeading(getAngle());
-    }
-
-    /**
-     * Gets an absolute heading of the robot
-     * @return heading from -180 to 180 degrees
-     */
-    public double getHeading(double angle) {
-        return Math.IEEEremainder(angle, 360);
-    }
-
-    /**
-     * Returns the current pitch value (in degrees, from -90 to 90)
-     * reported by the sensor.  Pitch is a measure of rotation around
-     * the Y Axis.
-     * @return The current pitch value in degrees (-90 to 90).
-     */
-    public double getPitch() {
-        if (m_isGyroAPigeon) {
-            return MathUtil.clamp(getPigeonAngles()[1], -90, 90);
-        } else {
-            return MathUtil.clamp(m_navX.getPitch(), -90, 90);
-        }
-    }
-
-    /**
-     * Returns the current roll value (in degrees, from -90 to 90)
-     * reported by the sensor.  Roll is a measure of rotation around
-     * the X Axis.
-     * @return The current roll value in degrees (-90 to 90).
-     */
-    public double getRoll() {
-        if (m_isGyroAPigeon) {
-            return MathUtil.clamp(getPigeonAngles()[2], -90, 90);
-        } else {
-            return MathUtil.clamp(m_navX.getRoll(), -90, 90);
-        }
-    }
-
-    public double getRate() {
-        if (m_isGyroAPigeon) {
-            return m_deltaPigeonAngle / m_robotTime.m_deltaTime * 1000;
-        } else {
-            return m_navX.getRate();
-        }
-    }
-
-    public Pigeon2 getPigeon(){
-        return m_pigeon;
-    }
-
-    public AHRS getNavX(){
-        return m_navX;
-    }
-
-    public void close() throws Exception {
-
-    }
-}