From: iefomit <timofei.stem@gmail.com>
Date: Mon, 30 Mar 2026 02:11:39 +0000 (-0700)
Subject: reset gyro
X-Git-Url: https://git.taranathan.com/?a=commitdiff_plain;h=d760a4add91be658a758fac2ca506685c8af3ca7;p=FRC2026.git

reset gyro
---

diff --git a/src/main/java/frc/robot/subsystems/drivetrain/Drivetrain.java b/src/main/java/frc/robot/subsystems/drivetrain/Drivetrain.java
index 4fbaefd..9befad4 100644
--- a/src/main/java/frc/robot/subsystems/drivetrain/Drivetrain.java
+++ b/src/main/java/frc/robot/subsystems/drivetrain/Drivetrain.java
@@ -656,6 +656,7 @@ public class Drivetrain extends SubsystemBase {
         currentHeading = pose.getRotation().getRadians();
         poseEstimator.resetPosition(gyroInputs.yawPosition, getModulePositions(), pose);
         modulePoses.reset();
+        gyroBiasEstimator.reset();
     }
 
     /**