Gyro.h

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#pragma once

#include <units/angle.h>
#include <frc/geometry/Rotation2d.h>
#include "ctre/phoenix/sensors/PigeonIMU.h"

#include "Constants.h"

using namespace DriveConstants;
using namespace units;
using namespace ctre::phoenix::sensors;


class Gyro
{
public:
    Gyro();

    double GetHeading();
    frc::Rotation2d GetHeadingAsRot2d() { return frc::Rotation2d(degree_t(GetHeading())); }

    void ZeroHeading();

    double GetTurnRate();

    PigeonIMU m_gyro;
};