Can I create a new gyro object and call calibrate on that?

[sargeanthost]

I can’t or don’t have the know how on how to calibrate a gyro object created in our drive subsystem on robot start up. I was wondering if i could create a new object in Robot and call calibrate on it due to there only being 1 gyro possible on the rio.

[JimWright949]

If the gyro is in your robot subsystem, create a new public method in the robot subsystem to re-calibrate that gyro, and then from the Robot code call this new method. You really want one object to point to the gyro at a time.

-Jim

[sargeanthost]

so like

public void calibrateGyro() {
gyro.calibrate();
}

robotinit{

calibrateGyro ();
}

?

[JimWright949]

Almost. in robotinit {
it would be something like m_robot_drive.calibrateGyro();
}

where m_robot_drive is the driveSubsystem object. Several examples put the driveSubsystem in the RobotContainer.java, if you do, then you can do one of two things:

put a method in RobotContainer that calls m_robot_drive.calibrateGyro();

or, what I do is move driveSubsystem in Robot.java and pass it into RobotContainer.
https://github.com/JimWright4089/FIRSTRobots/tree/master/Code/RobotInABox/SimpleCommands/src/main/java/frc/robot

-Jim

[sargeanthost]

Thanks, for others who read this make sure to put your object instead of void.

@sargeanthost

public void calibrateGyro() { gyro.calibrate(); }