Feature/canandgyro

src/main/java/frc/robot/sensors/gyro/GyroIO.java

@@ -2,6 +2,7 @@
 
 import edu.wpi.first.math.geometry.Rotation2d;
 import frc.robot.Robot;
+import frc.robot.subsystems.drive.DriveConstants;
 
 import java.util.function.DoubleSupplier;
 
@@ -46,7 +47,7 @@ public default void setOffset(double offset) {
 
   public static GyroIO getIOByMode(DoubleSupplier simRotRate) {
     return switch (Robot.getMode()) {
-      case REAL -> new GyroIONavX();
+      case REAL -> new GyroIOCanandgyro(DriveConstants.canandgyroId);
       case SIM -> new GyroIOSim(simRotRate);
       case REPLAY -> new GyroIO() {
       };

src/main/java/frc/robot/sensors/gyro/GyroIOCanandgyro.java

@@ -0,0 +1,70 @@
+package frc.robot.sensors.gyro;
+
+import java.util.Queue;
+
+import com.reduxrobotics.sensors.canandgyro.Canandgyro;
+
+import edu.wpi.first.math.geometry.Rotation2d;
+import frc.robot.sensors.odometry.SparkOdometryThread;
+
+public class GyroIOCanandgyro implements GyroIO {
+  private final Canandgyro gyro;
+
+  double offset = 0;
+  private final Queue<Double> yawPositionQueue;
+  private final Queue<Double> yawTimestampQueue;
+  private final Queue<Double> rate;
+
+  double pitchOffset = 0;
+  double rollOffset = 0;
+
+  public GyroIOCanandgyro(int gyroId) {
+    gyro = new Canandgyro(gyroId);
+    rate = SparkOdometryThread.getInstance()
+        .registerSignal(() -> Math.toRadians(gyro.getAngularVelocityYaw() * 360));
+    yawTimestampQueue = SparkOdometryThread.getInstance().makeTimestampQueue();
+    yawPositionQueue = SparkOdometryThread.getInstance().registerSignal(() -> gyro.getYaw() * 2 * Math.PI);
+  }
+
+  @Override
+  public void updateInputs(GyroIOInputs inputs) {
+
+    inputs.isConnected = gyro.isConnected();
+    inputs.isCalibrating = gyro.isCalibrating();
+    inputs.angleRadiansRaw = gyro.getYaw() * 2 * Math.PI;
+    inputs.angularVelocityDegreesPerSecond = gyro.getAngularVelocityYaw() * 360;
+    inputs.angleDegreesRaw = Math.toDegrees(inputs.angleRadiansRaw);
+
+    inputs.roll = new Rotation2d(gyro.getRoll() * 2 * Math.PI - rollOffset);
+    inputs.pitch = new Rotation2d(gyro.getPitch() * 2 * Math.PI - pitchOffset);
+
+    inputs.displacementX = 0;
+    inputs.displacementY = 0;
+    inputs.odometryYawRate = rate.stream().mapToDouble((Double value) -> value).toArray();
+    inputs.odometryYawTimestamps = yawTimestampQueue.stream().mapToDouble((Double value) -> value).toArray();
+    inputs.odometryYawPositions = yawPositionQueue.stream().map((Double value) -> Rotation2d.fromRadians(value))
+        .toArray(Rotation2d[]::new);
+
+    inputs.accelX = gyro.getAccelerationX();
+    inputs.accelY = gyro.getAccelerationY();
+    inputs.accelZ = gyro.getAccelerationZ();
+    yawTimestampQueue.clear();
+    yawPositionQueue.clear();
+    rate.clear();
+  }
+
+  @Override
+  public double getActual(GyroIOInputs inputs) {
+    return inputs.angleRadiansRaw - offset;
+  }
+
+  @Override
+  public double getOffset() {
+    return offset;
+  }
+
+  @Override
+  public void setOffset(double offset) {
+    this.offset = offset;
+  }
+}

src/main/java/frc/robot/subsystems/drive/DriveConstants.java

@@ -55,6 +55,8 @@ public static enum PivotId {
   public static final SwerveDriveKinematics kinematics = new SwerveDriveKinematics(frontLeftLocation,
       frontRightLocation, backLeftLocation, backRightLocation);
 
+  public static final int canandgyroId = 17;
+
   public static final ModuleInfo FL = new ModuleInfo(PivotId.FL, SwitchableCANID.of(1).get(),
       SwitchableCANID.of(2).get(),
       Switchable.of(0).addAlt(RobotTypes.frank25, 2).addAlt(RobotTypes.prime25, 2).get(), 45);

vendordeps/ReduxLib-2026.1.2.json

@@ -0,0 +1,69 @@
+{
+    "fileName": "ReduxLib-2026.1.2.json",
+    "name": "ReduxLib",
+    "version": "2026.1.2",
+    "frcYear": "2026",
+    "uuid": "151ecca8-670b-4026-8160-cdd2679ef2bd",
+    "mavenUrls": [
+        "https://maven.reduxrobotics.com/"
+    ],
+    "jsonUrl": "https://frcsdk.reduxrobotics.com/ReduxLib_2026.json",
+    "javaDependencies": [
+        {
+            "groupId": "com.reduxrobotics.frc",
+            "artifactId": "ReduxLib-java",
+            "version": "2026.1.2"
+        }
+    ],
+    "jniDependencies": [
+        {
+            "groupId": "com.reduxrobotics.frc",
+            "artifactId": "ReduxLib-fifo",
+            "version": "2026.1.2",
+            "isJar": false,
+            "skipInvalidPlatforms": true,
+            "validPlatforms": [
+                "linuxathena",
+                "linuxx86-64",
+                "linuxarm64",
+                "osxuniversal",
+                "windowsx86-64"
+            ]
+        }
+    ],
+    "cppDependencies": [
+        {
+            "groupId": "com.reduxrobotics.frc",
+            "artifactId": "ReduxLib-cpp",
+            "version": "2026.1.2",
+            "libName": "ReduxLib",
+            "headerClassifier": "headers",
+            "sourcesClassifier": "sources",
+            "sharedLibrary": true,
+            "skipInvalidPlatforms": true,
+            "binaryPlatforms": [
+                "linuxathena",
+                "linuxx86-64",
+                "linuxarm64",
+                "osxuniversal",
+                "windowsx86-64"
+            ]
+        },
+        {
+            "groupId": "com.reduxrobotics.frc",
+            "artifactId": "ReduxLib-fifo",
+            "version": "2026.1.2",
+            "libName": "reduxfifo",
+            "headerClassifier": "headers",
+            "sharedLibrary": true,
+            "skipInvalidPlatforms": true,
+            "binaryPlatforms": [
+                "linuxathena",
+                "linuxx86-64",
+                "linuxarm64",
+                "osxuniversal",
+                "windowsx86-64"
+            ]
+        }
+    ]
+}