How is the navX used in YAGSL?

Technical Programming
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link to github: GitHub - FRC4418/2023_Offseason_Swerve

Im trying to set up our swerve with YAGSL but Im having trouble defining the navX in it. More specifically, the swerve will drive relatively fine in teleop; and it can follow pathplanner paths, but the heading of the robot pose will never change despite the path telling it to.

My first question would be what id would a navX plugged into the imu port on the rio have? In the past I’ve used the usual navX constructor with no arguments and its worked. I’ve tried a couple numbers including the default 13 and 0 with no success.

Secondly, what is the canbus field for and how should it be used? Is it exclusive to certain IMUs?

Thank you in advance

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In general in YAGSL the can bus field is used to identify what bus you’ve assigned if using a carnivore. IF you are not using one then you set that to null in your config json. I believe the author has a web version to generate the configs ( you should use this ).

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