src/main/java/frc/robot/subsystem/Drive.java

@@ -7,6 +7,7 @@ package frc.robot.subsystem;
 import java.io.File;
 import java.io.IOException;
 
+import com.ctre.phoenix6.hardware.Pigeon2;
 import com.kauailabs.navx.frc.AHRS;
 import com.pathplanner.lib.auto.AutoBuilder;
 import com.pathplanner.lib.util.HolonomicPathFollowerConfig;
@@ -25,7 +26,8 @@ public class Drive extends SubsystemBase {
    SwerveDrive swerveDrive;
 
   File swerveJsonDirectory = new File(Filesystem.getDeployDirectory(),"swerve");
-  public AHRS Gyro = new AHRS();
+  
+  Pigeon2 Gyro = new Pigeon2(0);
    
   public void drive(double x, double y, double zRotation){
     swerveDrive.drive(new Translation2d(x*5, y*5), zRotation*4, true, false);