From 697d069c934a529b4853559f297bc40d27f911b5 Mon Sep 17 00:00:00 2001
From: kredcool <kredcool2007@outlook.com>
Date: Thu, 7 Mar 2024 16:03:22 -0500
Subject: [PATCH] reverting

---
 rio/Pipfile                      |   3 +-
 rio/Pipfile.lock                 | 415 +++++++++++++++----------------
 rio/constants.py                 |   9 -
 rio/pyproject.toml               |   2 +-
 rio/subsystems/drivesubsystem.py |  27 +-
 rio/utils/dummygyro.py           |   5 +-
 6 files changed, 217 insertions(+), 244 deletions(-)

diff --git a/rio/Pipfile b/rio/Pipfile
index df3a69c7..93b9794d 100644
--- a/rio/Pipfile
+++ b/rio/Pipfile
@@ -7,7 +7,8 @@ name = "pypi"
 wpilib = {extras = ["all"]}
 robotpy = "2024.2.1.1"
 robotpy-rev = "2024.2.0"
-robotpy-ctre = "2024.1.2"
+robotpy-ctre = "2024.1.1"
+robotpy-navx = "2024.1.0"
 robotpy-commands-v2 = "2024.2.1"
 
 [dev-packages]
diff --git a/rio/Pipfile.lock b/rio/Pipfile.lock
index 809f6eea..69f912ed 100644
--- a/rio/Pipfile.lock
+++ b/rio/Pipfile.lock
@@ -1,7 +1,7 @@
 {
     "_meta": {
         "hash": {
-            "sha256": "a5920a227460aa36650da0191c2abb324e77b43b043b1b456fa51d6bfc67eada"
+            "sha256": "ff968964e7b21e108cc95483cffcf81867e8703894b999f7be450e352f4ecd64"
         },
         "pipfile-spec": 6,
         "requires": {
@@ -109,41 +109,41 @@
         },
         "cryptography": {
             "hashes": [
-                "sha256:0270572b8bd2c833c3981724b8ee9747b3ec96f699a9665470018594301439ee",
-                "sha256:111a0d8553afcf8eb02a4fea6ca4f59d48ddb34497aa8706a6cf536f1a5ec576",
-                "sha256:16a48c23a62a2f4a285699dba2e4ff2d1cff3115b9df052cdd976a18856d8e3d",
-                "sha256:1b95b98b0d2af784078fa69f637135e3c317091b615cd0905f8b8a087e86fa30",
-                "sha256:1f71c10d1e88467126f0efd484bd44bca5e14c664ec2ede64c32f20875c0d413",
-                "sha256:2424ff4c4ac7f6b8177b53c17ed5d8fa74ae5955656867f5a8affaca36a27abb",
-                "sha256:2bce03af1ce5a5567ab89bd90d11e7bbdff56b8af3acbbec1faded8f44cb06da",
-                "sha256:329906dcc7b20ff3cad13c069a78124ed8247adcac44b10bea1130e36caae0b4",
-                "sha256:37dd623507659e08be98eec89323469e8c7b4c1407c85112634ae3dbdb926fdd",
-                "sha256:3eaafe47ec0d0ffcc9349e1708be2aaea4c6dd4978d76bf6eb0cb2c13636c6fc",
-                "sha256:5e6275c09d2badf57aea3afa80d975444f4be8d3bc58f7f80d2a484c6f9485c8",
-                "sha256:6fe07eec95dfd477eb9530aef5bead34fec819b3aaf6c5bd6d20565da607bfe1",
-                "sha256:7367d7b2eca6513681127ebad53b2582911d1736dc2ffc19f2c3ae49997496bc",
-                "sha256:7cde5f38e614f55e28d831754e8a3bacf9ace5d1566235e39d91b35502d6936e",
-                "sha256:9481ffe3cf013b71b2428b905c4f7a9a4f76ec03065b05ff499bb5682a8d9ad8",
-                "sha256:98d8dc6d012b82287f2c3d26ce1d2dd130ec200c8679b6213b3c73c08b2b7940",
-                "sha256:a011a644f6d7d03736214d38832e030d8268bcff4a41f728e6030325fea3e400",
-                "sha256:a2913c5375154b6ef2e91c10b5720ea6e21007412f6437504ffea2109b5a33d7",
-                "sha256:a30596bae9403a342c978fb47d9b0ee277699fa53bbafad14706af51fe543d16",
-                "sha256:b03c2ae5d2f0fc05f9a2c0c997e1bc18c8229f392234e8a0194f202169ccd278",
-                "sha256:b6cd2203306b63e41acdf39aa93b86fb566049aeb6dc489b70e34bcd07adca74",
-                "sha256:b7ffe927ee6531c78f81aa17e684e2ff617daeba7f189f911065b2ea2d526dec",
-                "sha256:b8cac287fafc4ad485b8a9b67d0ee80c66bf3574f655d3b97ef2e1082360faf1",
-                "sha256:ba334e6e4b1d92442b75ddacc615c5476d4ad55cc29b15d590cc6b86efa487e2",
-                "sha256:ba3e4a42397c25b7ff88cdec6e2a16c2be18720f317506ee25210f6d31925f9c",
-                "sha256:c41fb5e6a5fe9ebcd58ca3abfeb51dffb5d83d6775405305bfa8715b76521922",
-                "sha256:cd2030f6650c089aeb304cf093f3244d34745ce0cfcc39f20c6fbfe030102e2a",
-                "sha256:cd65d75953847815962c84a4654a84850b2bb4aed3f26fadcc1c13892e1e29f6",
-                "sha256:e4985a790f921508f36f81831817cbc03b102d643b5fcb81cd33df3fa291a1a1",
-                "sha256:e807b3188f9eb0eaa7bbb579b462c5ace579f1cedb28107ce8b48a9f7ad3679e",
-                "sha256:f12764b8fffc7a123f641d7d049d382b73f96a34117e0b637b80643169cec8ac",
-                "sha256:f8837fe1d6ac4a8052a9a8ddab256bc006242696f03368a4009be7ee3075cdb7"
+                "sha256:0a68bfcf57a6887818307600c3c0ebc3f62fbb6ccad2240aa21887cda1f8df1b",
+                "sha256:146e971e92a6dd042214b537a726c9750496128453146ab0ee8971a0299dc9bd",
+                "sha256:14e4b909373bc5bf1095311fa0f7fcabf2d1a160ca13f1e9e467be1ac4cbdf94",
+                "sha256:206aaf42e031b93f86ad60f9f5d9da1b09164f25488238ac1dc488334eb5e221",
+                "sha256:3005166a39b70c8b94455fdbe78d87a444da31ff70de3331cdec2c568cf25b7e",
+                "sha256:324721d93b998cb7367f1e6897370644751e5580ff9b370c0a50dc60a2003513",
+                "sha256:33588310b5c886dfb87dba5f013b8d27df7ffd31dc753775342a1e5ab139e59d",
+                "sha256:35cf6ed4c38f054478a9df14f03c1169bb14bd98f0b1705751079b25e1cb58bc",
+                "sha256:3ca482ea80626048975360c8e62be3ceb0f11803180b73163acd24bf014133a0",
+                "sha256:56ce0c106d5c3fec1038c3cca3d55ac320a5be1b44bf15116732d0bc716979a2",
+                "sha256:5a217bca51f3b91971400890905a9323ad805838ca3fa1e202a01844f485ee87",
+                "sha256:678cfa0d1e72ef41d48993a7be75a76b0725d29b820ff3cfd606a5b2b33fda01",
+                "sha256:69fd009a325cad6fbfd5b04c711a4da563c6c4854fc4c9544bff3088387c77c0",
+                "sha256:6cf9b76d6e93c62114bd19485e5cb003115c134cf9ce91f8ac924c44f8c8c3f4",
+                "sha256:74f18a4c8ca04134d2052a140322002fef535c99cdbc2a6afc18a8024d5c9d5b",
+                "sha256:85f759ed59ffd1d0baad296e72780aa62ff8a71f94dc1ab340386a1207d0ea81",
+                "sha256:87086eae86a700307b544625e3ba11cc600c3c0ef8ab97b0fda0705d6db3d4e3",
+                "sha256:8814722cffcfd1fbd91edd9f3451b88a8f26a5fd41b28c1c9193949d1c689dc4",
+                "sha256:8fedec73d590fd30c4e3f0d0f4bc961aeca8390c72f3eaa1a0874d180e868ddf",
+                "sha256:9515ea7f596c8092fdc9902627e51b23a75daa2c7815ed5aa8cf4f07469212ec",
+                "sha256:988b738f56c665366b1e4bfd9045c3efae89ee366ca3839cd5af53eaa1401bce",
+                "sha256:a2a8d873667e4fd2f34aedab02ba500b824692c6542e017075a2efc38f60a4c0",
+                "sha256:bd7cf7a8d9f34cc67220f1195884151426ce616fdc8285df9054bfa10135925f",
+                "sha256:bdce70e562c69bb089523e75ef1d9625b7417c6297a76ac27b1b8b1eb51b7d0f",
+                "sha256:be14b31eb3a293fc6e6aa2807c8a3224c71426f7c4e3639ccf1a2f3ffd6df8c3",
+                "sha256:be41b0c7366e5549265adf2145135dca107718fa44b6e418dc7499cfff6b4689",
+                "sha256:c310767268d88803b653fffe6d6f2f17bb9d49ffceb8d70aed50ad45ea49ab08",
+                "sha256:c58115384bdcfe9c7f644c72f10f6f42bed7cf59f7b52fe1bf7ae0a622b3a139",
+                "sha256:c640b0ef54138fde761ec99a6c7dc4ce05e80420262c20fa239e694ca371d434",
+                "sha256:ca20550bb590db16223eb9ccc5852335b48b8f597e2f6f0878bbfd9e7314eb17",
+                "sha256:d97aae66b7de41cdf5b12087b5509e4e9805ed6f562406dfcf60e8481a9a28f8",
+                "sha256:e9326ca78111e4c645f7e49cbce4ed2f3f85e17b61a563328c85a5208cf34440"
             ],
             "markers": "python_version >= '3.7'",
-            "version": "==42.0.5"
+            "version": "==42.0.0"
         },
         "iniconfig": {
             "hashes": [
@@ -171,14 +171,14 @@
         },
         "phoenix6": {
             "hashes": [
-                "sha256:060271c9df9d79317e2d58ad01f694979dc1375c2047148d87cf95d9b9f58424",
-                "sha256:31d5f492f5643bcb8808950145657db40966701de59d67792964c3f15f2982ff",
-                "sha256:5435ad068fbb66a7df1e12ce5ab91086b9c197fb50ac7a05fec6fa823d151ab0",
-                "sha256:72f994233822bd28db1939e18bf49d1c3b8497c179d3af1acb6af86fddaa9f89",
-                "sha256:7896b004f08733cfc9362d86b694a5d0d375b96a2f796ffd20cd62739b4dc97c"
+                "sha256:48f79760706515157512d4596a2964c327235da53dd7b4cadbc50c4bd61b3b65",
+                "sha256:4aa88861786861aa647193052da0df0d8f26a91cabfa5e84d85fa71af0de649b",
+                "sha256:65b687a22b462e48db0e02224f43b641a9a8d4df7c7c06cdf60da097fce8be60",
+                "sha256:c3c75782066665be9d37d3641c061be4bf1460e838f482c8f5723e754080ba76",
+                "sha256:c70dce1831afd224e10705483d1e383817bd58ff604cf139d64ba7bb8f9f5df8"
             ],
             "markers": "python_version >= '3.7' and python_version < '4'",
-            "version": "==24.2.0"
+            "version": "==24.1.0"
         },
         "pint": {
             "hashes": [
@@ -237,32 +237,32 @@
         },
         "pyntcore": {
             "hashes": [
-                "sha256:208cb918529d2043b42e5df36a7987b30ef42906ae9c1b2a6d363a4debae1bdd",
-                "sha256:30153330b2c72dd659df94213be43501943b4790c78c412cc21f1f0252c3b0a3",
-                "sha256:40ef78bde4d7c45d648f74d0b505612f02a5bcac0a7ef5df82aa4c9a7b9d1831",
-                "sha256:554040f989ccc95a83d0f51142b4c0e397c01156ae4d94c022dd58a24653a482",
-                "sha256:7ef9a57a9cd092483e47ba5a3ff6c8bded208f5035b2419244bbb40108f5656e",
-                "sha256:88ebf4d122039765b4095eff9c3df4bc97650581851c9e8a7ab76dc534ba6389",
-                "sha256:98122bd507cc3c6e5444523c515a874ff2c19fcbd285e144ee561670c6d6b793",
-                "sha256:a6971b9b0b2dbcc5abf7c12c64249280adac5a1ec682a8742581af811f5cf3c0",
-                "sha256:a7049451c5f045192f8a6591e0a587eed4d62c3d879defa573d54041038fc642",
-                "sha256:a8e71f96be44b10b417c3e240c5b0c4d2967633ac877bb4b6ec15236d4ec6f8a",
-                "sha256:b07f93cbb9d62fac357755feb5f568534916047e36f823325fa84ac9104ebfb7",
-                "sha256:d36a3d629994bea5c13dc09044ffb7869662f8c8ed9377f09e8e3deca70d313e",
-                "sha256:d9085851735eb3716e0fd8e437f2679a8a631ff0595e46a1d25b9948ad3303d0",
-                "sha256:f6977652ea6066303833a3fc1afeb73537ef07ce2ca48d4e6cadc62c5c6b0671",
-                "sha256:f9b67d6a8afe0dd6a16b818ab19427631b7e0700c9c05c7cc22c76d24ef4160f"
+                "sha256:10b0d9a39b6a0dc92f25ae06798a5dcb1eb36ed5fc07083711cce39056ac62ab",
+                "sha256:13bfacc40106929e9225acc4fb4638e60e4b119435eb65e100e645af50e3b25e",
+                "sha256:171015482d904817cac66d4a8a2a9efaa9bf3af52f23a6729f687c7a9a22fcd9",
+                "sha256:45fb06fc5ffb1a995bd5c583866dd029a9ef95819dc33f91766ac235203bc103",
+                "sha256:56cfb02826e266da6c1ed563d8291d8e4c20c2eb928adc52cca1b43f27d55261",
+                "sha256:5c8dfb93756c7d945e88d34a2bda9c51f83478cf89e7bd8049d13a3dc9882373",
+                "sha256:6b8a093cc8ff8f436ddbd83a6b2c2cf0184001d137df2c1e708f19814aa1f65b",
+                "sha256:701e0b4aece667e286ca4e772fc75fb5cb69fa0458db3b53687cc9aeb0b180f8",
+                "sha256:8e2d05b55b8c5f01f11016d4e400f2242b4becf7ca26783821c7682a98aae8ea",
+                "sha256:9abf53adb8a412f9584b14f3a9dabd37940af5f57ff3c60ff5f2b150bf747e3a",
+                "sha256:b137734c8f4083827079665cd34460863c57c9ddd6b397726a6eb9734cb255ca",
+                "sha256:dfdcde81b621bd6fee02185c75bcdd4d180de1d3b281df70213b8f8784580dca",
+                "sha256:e30dd12eafd0d28e306c3076cf99b067347a9c0fbe299f82553a7b0a94c056ab",
+                "sha256:f06762dd96eed6a5b79ff07c46fab92bab08edfe0788b0265e0720e747f6afa4",
+                "sha256:fc174b121f984b876cc3322129de7a475155027304f43867ca11e6441d101149"
             ],
             "markers": "python_version >= '3.8'",
-            "version": "==2024.3.1.0"
+            "version": "==2024.2.1.2"
         },
         "pytest": {
             "hashes": [
-                "sha256:d4051d623a2e0b7e51960ba963193b09ce6daeb9759a451844a21e4ddedfc1bd",
-                "sha256:edfaaef32ce5172d5466b5127b42e0d6d35ebbe4453f0e3505d96afd93f6b096"
+                "sha256:249b1b0864530ba251b7438274c4d251c58d868edaaec8762893ad4a0d71c36c",
+                "sha256:50fb9cbe836c3f20f0dfa99c565201fb75dc54c8d76373cd1bde06b06657bdb6"
             ],
             "markers": "python_version >= '3.8'",
-            "version": "==8.0.2"
+            "version": "==8.0.0"
         },
         "pytest-reraise": {
             "hashes": [
@@ -273,13 +273,13 @@
             "version": "==2.1.2"
         },
         "robotpy": {
-            "extras": [],
             "hashes": [
-                "sha256:234006897942d8af5f9c8bfaaac116bce8372d4c18c3d5c64dcd11849f658885",
-                "sha256:5d76e6207280378bace891af54d13dc9dc7f8b27d5b3f3d2677e411292dd46cf"
+                "sha256:c21f49f5af79d320abcb61ee08524f27376df2b297d2e60ef55d9e00edd135bc",
+                "sha256:d7e1fceae2b1f9b214b81fdceea8d05f56f9add0f2518381cef7559bc4d5aa3f"
             ],
             "index": "pypi",
-            "version": "==2024.3.1.0"
+            "markers": "python_version < '3.13' and python_version >= '3.8'",
+            "version": "==2024.2.1.1"
         },
         "robotpy-cli": {
             "hashes": [
@@ -291,80 +291,81 @@
         },
         "robotpy-commands-v2": {
             "hashes": [
-                "sha256:94c2779a13c46c27f1454b170f01fb9c1c9e6a02d7b8fccaa86cd4e5c87d2435",
-                "sha256:bd7caf6060413d1b70bcedab665fb24ee2deed9169aeee611efb62a9dbf40852"
+                "sha256:c14fad8986c94e4f1cd5eda8bbadca60b733e89d44ea1388aaa030f0de734cd4",
+                "sha256:f80c9caf2cce2c05f26cbe8024fc587834a07485573971bd116e3fbd6678e5ef"
             ],
             "index": "pypi",
-            "version": "==2024.3.1"
+            "markers": "python_version >= '3.8'",
+            "version": "==2024.2.1"
         },
         "robotpy-ctre": {
             "hashes": [
-                "sha256:02a6ac1f54a6987c0e7d4009b8cc073f51017708241cbaa1dc57ae028cd433d1",
-                "sha256:0a9d2bd0d48328df154aa9ad59b49608259b7ab8b96af6c0c40b66d13c6d6ff9",
-                "sha256:11b90c48b3bb3bb8c31e91d6dd9f660116ad62fd866d4903d233b03a5199d9fe",
-                "sha256:2996bf0b55b81f8a13641c99e15324435ef446368e5fe811857633367cf39ad2",
-                "sha256:4e42930efa72f3b015f54b6ac5178ac4add9ad1ae1aff0c7c3dc9376c2a8fda0",
-                "sha256:59a79c0bdcd3599ea27b35917ddd1604eaa5eabe8d0e456098fe57f9b57211c3",
-                "sha256:6fc7217a27f132b55b8d27afd9e6f12bc8f882c49b92707dc1d4d5fa10a9bddb",
-                "sha256:8707fc0ada08ad5f3733f2438de1c360ecb732027d5c25b3efaca638ae1b8e80",
-                "sha256:8f1f890b46c2970d1eed7bd4f358ff115a028c6b57290a5e2235cc9f55e19b2a",
-                "sha256:9aaa40d9fe871778749063e6211e0a39ce98cdde162deae6e79a2129e4a1ab1f",
-                "sha256:c83c55f01f748daa3792b4d3f691bdaa987f4d0bc9d6f958a59f938f1fdbb0cc",
-                "sha256:d62c8b7411634672b08d6acd4a2b5695c06f173755a968761f0a40f1c5839c9c",
-                "sha256:df1a26fbd7690f809af4e67063469a75a7390cd50b485427c89655e64a37e333"
+                "sha256:056e978d2d58aa842c69472063e21e89b0615dc6df70438ee86b4b3ea8825293",
+                "sha256:5d3ad9ec4ea8a7dba71979b496e9363994843e93ac4913bf80b98d9719db8d78",
+                "sha256:72f4c860f4e2402173a8abcdd65a6838fdd587cd2022d184fa8fd6d9645cae81",
+                "sha256:7e084cd2e7fc76269c3a1d4bfb671eb6c21de535698252acc879f429fa0b0ab6",
+                "sha256:8a7bdeb2fcebf45abc3f50b9be22b0aeef70122eda1732e37e495a530bfa87aa",
+                "sha256:8d44245e9159e8ccc20c239130fa15feef83ceb674a4fd0e435c91809d9ebfc4",
+                "sha256:92bb052508a1d65bdad5274a9bc9dc48ab001b2b65345b6e78e5689969d10678",
+                "sha256:ab8aac6f88b6bbfe83d42c91e52bd33d99bbb46e975c3f2a943029efcd93c9f9",
+                "sha256:ac3c76f65f11b4826f62815080bc7c14eaccf989790057a05980a4cca4c3d84d",
+                "sha256:b24aeb7f447ac7945d346247fe36db4d5cfafc0d6ec0cf294d30fd37f6bf1893",
+                "sha256:bd65c83ad620fc6ced2dd0111a86548ef0a0709248d40d9ca3eb524f0b366f90",
+                "sha256:c27f4f300df0ce2ed79bd65dff32da3b7712053572893add24a6333b89d87414",
+                "sha256:ec33c5a2777b15a29880a98e31de5c28f7b264afe3fccaaf983dd3853d632de6"
             ],
             "index": "pypi",
-            "version": "==2024.1.2"
+            "version": "==2024.1.1"
         },
         "robotpy-hal": {
             "hashes": [
-                "sha256:08057320ce405ca3cb56fbf9ad86d82f26fc3651fc0bec540a857cb37e58c1b2",
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@@ -390,25 +391,25 @@
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-                "sha256:5eab86b28be91cb13b2cb7cd05ec2f31f4fc4b90f2f61a447ac8e5d250d897c8",
-                "sha256:610ac4ea866408d5438954a940d43767ae3c07af1e7c2c383bb5c3b09339c757",
-                "sha256:71bca449711da367b1f0e4ad8f549a35d5ee0b9ac77a0f4ab6bd52373f330c9f",
-                "sha256:8d646809bfc5e207f70aa233214c88eef79f1a051770826a166c6976c9e6bea3",
-                "sha256:9e66f21b3d736360fee0887bd82ee2ea8ca4d903716800061857d2e7209b6bdc",
-                "sha256:b373004b6527683d1ad14f1b2be420be31d96aa65a5faf86387f7d1083cd6bec",
-                "sha256:bdb19013b224ed7716f66a41e39cf2e737ed76c55261174191322753af46221b",
-                "sha256:ceb7c478dd9a0cf29d2fef65b44e342babd90d80face92a773e5ec2b0652ef43",
-                "sha256:e3fadad2715b463269352e44c2c0f8fc6a87d11e0771fdcd14992657773180eb",
-                "sha256:e71dd8dd3eaead3250d240dd7c2a6ca7c6dd9b74f8e578723779b35ff7f0a413",
-                "sha256:eddb9dbe27cb48f6a3c82212b155c143e7799f1f3077517fe57f698e21456606",
-                "sha256:ef3df62ed1fdb79706e3ec0b46a8879cb3022f058414d6c6d00a1b415c677c2a"
+                "sha256:5ba7e3df22812e7924cfa2a868dc76fb4a06077d7ea32f02e662db5ec92fd1b8",
+                "sha256:6b0b4e3f6a0a354d64d600d87d1e06c4ed9aadbb16d69b3eb280723fa781e31c",
+                "sha256:6e3b410661d69d02d14929e9dde6d4272a334606ada546331a0e5e087cbcc037",
+                "sha256:885aee82ab121acc87167e795d4e7217ef40521ac3d993dc723faef2b26e0d04",
+                "sha256:95a1f0eb1dbad058937f4baa2c2942b6344f5a523a0784a907c750c482caf407",
+                "sha256:9a90190ba1b8b3b7eb76f0f5f0c40b0a18256e7ecf2ebabccae615389ebb9575",
+                "sha256:b1a005bb75160aa40825b3d436dfa35b606db674f143b61d77af7f7680308f02",
+                "sha256:be6ead686096ee25dbe096f1ca1bee1e7db9d42739144bc1eb7af327a617e658",
+                "sha256:c50f7384224753e2eeae188610bbcf58604275b66efbd189f4dd94ed9b5c244a",
+                "sha256:e621b62bf4320cb68d270fe12b7f78b5dfac56c1d54703d5822e7dac6fd23d70",
+                "sha256:ebd3c8fc4280172adf34346a2302ec985f0d8730f3f95200a66c3f6da83613c0",
+                "sha256:f0029684f096d2ba1618aebffbc126dd571aa2a0d3e73b0c2b3f016e6ec996bb",
+                "sha256:f69a8b2e2c7a626ab3fed8e5ca3dc017e2871226ef03ec045e4cd7da658d873d",
+                "sha256:f8c44c5fb1300299d65a89bbb7162465a8201a64175ff06f35768b6ed1c4e4f0",
+                "sha256:fdee662f432ccd717366da9ea3b5e152e84ee74e6a4c2a95d4c251ff82736fcf"
             ],
             "markers": "python_version >= '3.8'",
-            "version": "==2024.3.1.0"
+            "version": "==2024.2.1.2"
         },
         "setuptools": {
             "hashes": [
-                "sha256:02fa291a0471b3a18b2b2481ed902af520c69e8ae0919c13da936542754b4c56",
-                "sha256:5c0806c7d9af348e6dd3777b4f4dbb42c7ad85b190104837488eab9a7c945cf8"
+                "sha256:385eb4edd9c9d5c17540511303e39a147ce2fc04bc55289c322b9e5904fe2c05",
+                "sha256:be1af57fc409f93647f2e8e4573a142ed38724b8cdd389706a867bb4efcf1e78"
             ],
             "markers": "python_version >= '3.8'",
-            "version": "==69.1.1"
+            "version": "==69.0.3"
         },
         "tomli": {
             "hashes": [
@@ -497,45 +498,37 @@
             "markers": "python_version >= '3.7'",
             "version": "==2.0.1"
         },
-        "tomlkit": {
-            "hashes": [
-                "sha256:5cd82d48a3dd89dee1f9d64420aa20ae65cfbd00668d6f094d7578a78efbb77b",
-                "sha256:7ca1cfc12232806517a8515047ba66a19369e71edf2439d0f5824f91032b6cc3"
-            ],
-            "markers": "python_version >= '3.7'",
-            "version": "==0.12.4"
-        },
         "typing-extensions": {
             "hashes": [
-                "sha256:69b1a937c3a517342112fb4c6df7e72fc39a38e7891a5730ed4985b5214b5475",
-                "sha256:b0abd7c89e8fb96f98db18d86106ff1d90ab692004eb746cf6eda2682f91b3cb"
+                "sha256:23478f88c37f27d76ac8aee6c905017a143b0b1b886c3c9f66bc2fd94f9f5783",
+                "sha256:af72aea155e91adfc61c3ae9e0e342dbc0cba726d6cba4b6c72c1f34e47291cd"
             ],
             "markers": "python_version >= '3.8'",
-            "version": "==4.10.0"
+            "version": "==4.9.0"
         },
         "wpilib": {
             "extras": [
                 "all"
             ],
             "hashes": [
-                "sha256:188dae4c8b3ca2d6d59a48be9d330a9744c42528d7c73052f2220c66b7a9b84d",
-                "sha256:1b56b0cd5c2eaffe18d60eda65e90f08853fdad68fb20eeaf4aa591fb2a573e4",
-                "sha256:377da8a76b95ccbdf36bb0bf02ea072fce9b20872aa4266d1f66c8d3f385ac66",
-                "sha256:3e31cab5bedda4de0124fb5b367f346a69539f14dbc40b3e96ca6a4f43518117",
-                "sha256:40bef965e7cd780e8ac35815c619562aff7908c8d01400a4a9145ed51f8d2a59",
-                "sha256:6822229c19b4b5d6ce365ff2361a43206e38d464a769c890f7bbf049bbe0c2cb",
-                "sha256:6d8962bc182f758400bcd1134199e7dfcfaf31a02658c2a9aa1a338fbbdff6ac",
-                "sha256:850792b1c23efbe5bb1970a5297398ea2c5fb5333a11538225c0ab068a715421",
-                "sha256:983fb590096426bcee407ee76a4673d09d1a10ff63a669a6db4a8821bdc4ebcd",
-                "sha256:99a8d32c136085bad95d780e3cc0fba6094f2fed11808d6e31013cab57aa1046",
-                "sha256:c2d7bcb1efb66d9a8e90243b71f25dd7fdc0899c951a13683caba6a2f02fc37e",
-                "sha256:c512048a2fa9b24b702d7ad67d5a91ea477265416887caaff3b930914bb33e53",
-                "sha256:ce613f6ec1c812683d1cff010d9de69071d802e40063749161604ee69fc25e7d",
-                "sha256:da90983c18b998b88b5bc6e92883e0856aa4ce272de05a8fd866db658948f76b",
-                "sha256:e93670fc62e61d8f4949077deca718bdf3f0bb605db9e701694d34fd232e25f4"
+                "sha256:0829435a16cda9f312962afe7f63dcf5812215048f29cad3ec8cfaaf66ba9d6e",
+                "sha256:0b9a102c2fe1e7322c6c2ae4c249aa61706bce84f13168ed8d35d0209e62394f",
+                "sha256:1f280c68acc2a83b587ffa3d3dbbd731f842b318d6a207d5b2a03ce17f781168",
+                "sha256:24b58eea56909cf6de0ccd8320dff02b0c47c33c2c761c518c918582b5cf8ac8",
+                "sha256:41f439f2389437547d39124a2a4780877603a220a3eb7b03a521b18dcbe8e637",
+                "sha256:5690544babc6ccbc5785b53f8d5aed2db6fdbb68f5e0b01d7d85cd112af34fba",
+                "sha256:57c7d72d9326b6cee51005fa13926b907c4e37851da5727fc086b0e5b8972c5b",
+                "sha256:5a93a4634babbcc111adc8edd5c309cd4654f6fe4d271cbd67fd250f9a8b6bbb",
+                "sha256:93acc9a77fc78fd9b6c8a7d048ff60024e930abb6671c3a29c0cdc774198d7b5",
+                "sha256:95ef8391edcee26f29081705664b7d59c4c51c34c92047d6aa28af5345dd2b11",
+                "sha256:ac186f81c3c2246cb9ce4d83f5c87cf496e47c4eb0b6096f2a53f0d1d5399ac4",
+                "sha256:afe472774b69e65b7dc99dbfd42e3adafb7156b332122b1e5eba660b05d7f383",
+                "sha256:b499bb809b24208f50b83fb79e452dacc28701bce964fae35a41085efff4a39f",
+                "sha256:c9fdd5d8377fbe990af506b304b7efb24dd1888ac1d18ab85f5ea84f1da2bfae",
+                "sha256:e644e7f6c0b4d1fc71c1cd8efebf908ab4088447db939ee213286703990ca860"
             ],
-            "index": "pypi",
-            "version": "==2024.3.1.0"
+            "markers": "python_version >= '3.8'",
+            "version": "==2024.2.1.2"
         }
     },
     "develop": {}
diff --git a/rio/constants.py b/rio/constants.py
index 18d562e9..38e04b6c 100644
--- a/rio/constants.py
+++ b/rio/constants.py
@@ -190,12 +190,3 @@ class IntakeConstants:
     kLiftI = 0.00001
     kLiftD = 1.6
     kLiftFF = 0
-
-
-class GyroConstants:
-    id = 0
-
-    # pose
-    yawPose = 0
-    pitchPose = 0
-    rollPose = 0
diff --git a/rio/pyproject.toml b/rio/pyproject.toml
index f1ee3c48..70306894 100644
--- a/rio/pyproject.toml
+++ b/rio/pyproject.toml
@@ -15,7 +15,7 @@ robotpy_extras = [
     # "apriltag",
     "commands2",
     # "cscore",
-    # "navx",
+    "navx",
     # "pathplannerlib",
     "phoenix5",
     # "phoenix6",
diff --git a/rio/subsystems/drivesubsystem.py b/rio/subsystems/drivesubsystem.py
index 71fb6e17..9d7f7940 100644
--- a/rio/subsystems/drivesubsystem.py
+++ b/rio/subsystems/drivesubsystem.py
@@ -13,11 +13,11 @@
     SwerveDrive4Odometry,
 )
 
-from phoenix5.sensors import Pigeon2
+from navx import AHRS
 
 from ntcore import NetworkTableInstance
 
-from constants import DriveConstants, GyroConstants
+from constants import DriveConstants
 
 import utils.swerveutils as swerveutils
 
@@ -61,18 +61,11 @@ def __init__(self) -> None:
 
         # The gyro sensor
         if wpilib.RobotBase.isReal():
-            self.gyro = Pigeon2(GyroConstants.id)
+            self.gyro = AHRS.create_spi()
         else:
             # Bug with navx init! For sim/unit testing just use the ADIS
             self.gyro = DummyGyro()
 
-        # the mounting pose for the gyro
-        self.gyro.configMountPose(
-            GyroConstants.yawPose,
-            GyroConstants.pitchPose,
-            GyroConstants.rollPose,
-        )
-
         # Slew rate filter variables for controlling lateral acceleration
         self.currentRotation = 0.0
         self.currentTranslationDir = 0.0
@@ -85,7 +78,7 @@ def __init__(self) -> None:
         # Odometry class for tracking robot pose
         self.odometry = SwerveDrive4Odometry(
             DriveConstants.kDriveKinematics,
-            Rotation2d.fromDegrees(self.gyro.getYaw()),
+            Rotation2d.fromDegrees(self.gyro.getAngle()),
             (
                 self.frontLeft.getPosition(),
                 self.frontRight.getPosition(),
@@ -97,7 +90,7 @@ def __init__(self) -> None:
     def periodic(self) -> None:
         # Update the odometry in the periodic block
         self.odometry.update(
-            Rotation2d.fromDegrees(self.gyro.getYaw()),
+            Rotation2d.fromDegrees(self.gyro.getAngle()),
             (
                 self.frontLeft.getPosition(),
                 self.frontRight.getPosition(),
@@ -140,7 +133,7 @@ def resetOdometry(self, pose: Pose2d) -> None:
 
         """
         self.odometry.resetPosition(
-            Rotation2d.fromDegrees(self.gyro.getYaw()),
+            Rotation2d.fromDegrees(self.gyro.getAngle()),
             (
                 self.frontLeft.getPosition(),
                 self.frontRight.getPosition(),
@@ -244,7 +237,7 @@ def drive(
                 xSpeedDelivered,
                 ySpeedDelivered,
                 rotDelivered,
-                Rotation2d.fromDegrees(self.gyro.getYaw()),
+                Rotation2d.fromDegrees(self.gyro.getAngle()),
             )
             if fieldRelative
             else ChassisSpeeds(xSpeedDelivered, ySpeedDelivered, rotDelivered)
@@ -293,16 +286,14 @@ def resetEncoders(self) -> None:
 
     def zeroHeading(self) -> None:
         """Zeroes the heading of the robot."""
-        # Pigeon2 doesn't have a reset command
-        # self.gyro.reset()
-        pass
+        self.gyro.reset()
 
     def getHeading(self) -> float:
         """Returns the heading of the robot.
 
         :returns: the robot's heading in degrees, from -180 to 180
         """
-        return Rotation2d.fromDegrees(self.gyro.getYaw()).degrees()
+        return Rotation2d.fromDegrees(self.gyro.getAngle()).degrees()
 
     def getTurnRate(self) -> float:
         """Returns the turn rate of the robot.
diff --git a/rio/utils/dummygyro.py b/rio/utils/dummygyro.py
index 6ef34bbc..7329053c 100644
--- a/rio/utils/dummygyro.py
+++ b/rio/utils/dummygyro.py
@@ -3,8 +3,5 @@ class DummyGyro:
     def __init__(self):
         pass
 
-    def getYaw(self) -> float:
+    def getAngle(self) -> float:
         return 0.0
-
-    def configMountPose(self, x, y, z):
-        pass