From: iefomit <timofei.stem@gmail.com>
Date: Mon, 6 Apr 2026 17:14:42 +0000 (-0700)
Subject: Merge branch 'main' into phoenix-pro
X-Git-Url: https://git.taranathan.com/?a=commitdiff_plain;h=603db04bbf5753fe350b764137120bd27cb0f07a;p=FRC2026.git

Merge branch 'main' into phoenix-pro
---

603db04bbf5753fe350b764137120bd27cb0f07a
diff --cc src/main/java/frc/robot/subsystems/drivetrain/GyroIO.java
index 1cd5394,dd63dcd..53c36d5
--- a/src/main/java/frc/robot/subsystems/drivetrain/GyroIO.java
+++ b/src/main/java/frc/robot/subsystems/drivetrain/GyroIO.java
@@@ -32,6 -30,10 +32,13 @@@ public interface GyroIO 
  
    public default void updateInputs(GyroIOInputs inputs) {}
  
 +  /** returns the yaw status signal for time-synced odometry. */
 +  public default StatusSignal<?> getYawSignal() { return null; }
++
+   /**
+    * set the yaw angle of the gyro.
+    *
+    * @param rotation the new yaw angle
+    */
+   public default void setYaw(Rotation2d rotation) {}
  }
diff --cc src/main/java/frc/robot/subsystems/drivetrain/GyroIOPigeon2.java
index 5b1d9e3,c6211f5..1e08361
--- a/src/main/java/frc/robot/subsystems/drivetrain/GyroIOPigeon2.java
+++ b/src/main/java/frc/robot/subsystems/drivetrain/GyroIOPigeon2.java
@@@ -72,8 -72,8 +72,13 @@@ public class GyroIOPigeon2 implements G
      yawPositionQueue.clear();
    }
  
 +  @Override
 +  public StatusSignal<Angle> getYawSignal() {
 +    return yaw;
 +  }
++  
+   @Override
+   public void setYaw(Rotation2d rotation) {
+     pigeon.getConfigurator().setYaw(rotation.getDegrees());
+   }
  }
diff --cc src/main/java/frc/robot/subsystems/drivetrain/Module.java
index bfdf755,49910f1..9c26df3
--- a/src/main/java/frc/robot/subsystems/drivetrain/Module.java
+++ b/src/main/java/frc/robot/subsystems/drivetrain/Module.java
@@@ -249,10 -250,12 +252,12 @@@ public class Module implements ModuleIO
          }
          if (isOpenLoop) {
              double percentOutput = desiredState.speedMetersPerSecond / DriveConstants.MAX_SPEED;
 -            driveMotor.set(percentOutput);
 +            driveMotor.setControl(new DutyCycleOut(percentOutput).withEnableFOC(true));
          } else {
              double velocity = desiredState.speedMetersPerSecond/DriveConstants.WHEEL_RADIUS/2/Math.PI*DriveConstants.DRIVE_GEAR_RATIO;
-             Logger.recordOutput("desired vel" + moduleConstants.ordinal(), velocity);
+             if (!Constants.DISABLE_LOGGING) {
+                 Logger.recordOutput("desired vel" + moduleConstants.ordinal(), velocity);
+             }
              
              double feedforward = velocity * moduleConstants.getDriveV();
              driveMotor.setControl(
@@@ -439,22 -450,4 +466,22 @@@
          return inputs.odometryTimestamps;
      }
  
 +    /** returns the drive position status signal for time-synced odometry. */
 +    public StatusSignal<Angle> getDrivePositionSignal() {
 +        return drivePosition;
 +    }
 +
 +    /** returns the turn position status signal for time-synced odometry. */
 +    public StatusSignal<Angle> getTurnPositionSignal() {
 +        return turnPosition;
 +    }
 +
 +    /** returns the turn absolute position status signal for time-synced odometry. */
 +    public StatusSignal<Angle> getTurnAbsolutePositionSignal() {
 +        return turnAbsolutePosition;
 +    }
 +
 +    public TalonFX[] getMotors() {
 +        return new TalonFX[]{angleMotor, driveMotor};
 +    }
- }
+ }