add loggablegyro branch

build.gradle

@@ -2,7 +2,7 @@ import edu.wpi.first.gradlerio.deploy.roborio.RoboRIO
 
 plugins {
     id "java"
-    id "edu.wpi.first.GradleRIO" version "2022.3.1"
+    id "edu.wpi.first.GradleRIO" version "2022.4.1"
     id "jacoco"
 }
 

src/main/java/frc/robot/logging/LoggableGyro.java

@@ -0,0 +1,23 @@
+package frc.robot.logging;
+
+import com.kauailabs.navx.frc.AHRS;
+
+public class LoggableGyro extends AHRS implements Loggable {
+    public LoggableGyro() {
+        super();
+    }
+
+    @Override
+    public void setupLogging(Logger logger) {
+        logger.addAttribute("AHRS/velocityY");
+        logger.addAttribute("AHRS/pitch");
+        logger.addAttribute("AHRS/accelerationY");
+    }
+
+    @Override
+    public void log(Logger logger) {
+        logger.log("AHRS/velocityY", this.getVelocityY());
+        logger.log("AHRS/pitch", this.getPitch());
+        logger.log("AHRS/accelerationY", this.getWorldLinearAccelY());
+    }
+}

vendordeps/navx_frc.json

@@ -0,0 +1,35 @@
+{
+    "fileName": "navx_frc.json",
+    "name": "KauaiLabs_navX_FRC",
+    "version": "4.0.442",
+    "uuid": "cb311d09-36e9-4143-a032-55bb2b94443b",
+    "mavenUrls": [
+        "https://repo1.maven.org/maven2/"
+    ],
+    "jsonUrl": "https://www.kauailabs.com/dist/frc/2022/navx_frc.json",
+    "javaDependencies": [
+        {
+            "groupId": "com.kauailabs.navx.frc",
+            "artifactId": "navx-java",
+            "version": "4.0.442"
+        }
+    ],
+    "jniDependencies": [],
+    "cppDependencies": [
+        {
+            "groupId": "com.kauailabs.navx.frc",
+            "artifactId": "navx-cpp",
+            "version": "4.0.442",
+            "headerClassifier": "headers",
+            "sourcesClassifier": "sources",
+            "sharedLibrary": false,
+            "libName": "navx_frc",
+            "skipInvalidPlatforms": true,
+            "binaryPlatforms": [
+                "linuxathena",
+                "linuxraspbian",
+                "windowsx86-64"
+            ]
+        }
+    ]
+}