diff --git a/src/main/java/frc/robot/subsystems/Drivetrain.java b/src/main/java/frc/robot/subsystems/Drivetrain.java
index 693d5e4..6a6264a 100644
--- a/src/main/java/frc/robot/subsystems/Drivetrain.java
+++ b/src/main/java/frc/robot/subsystems/Drivetrain.java
@@ -7,6 +7,9 @@ package frc.robot.subsystems;
 import java.util.function.BooleanSupplier;
 import java.util.function.DoubleSupplier;
 
+import com.studica.frc.AHRS;
+import com.studica.frc.AHRS.NavXComType;
+
 import edu.wpi.first.math.MathUtil;
 import edu.wpi.first.math.geometry.Pose2d;
 import edu.wpi.first.math.geometry.Rotation2d;
@@ -30,7 +33,7 @@ public class Drivetrain extends SubsystemBase {
     protected MAXSwerveModule m_rearRight;
 
     // The gyro sensor
-    private ADIS16470_IMU m_gyro;
+    private AHRS ahrs;
 
     // Odometry class for tracking robot pose
     private SwerveDriveOdometry m_odometry;
@@ -61,11 +64,11 @@ public class Drivetrain extends SubsystemBase {
             DrivetrainConstants.kBackRightChassisAngularOffset
         );
 
-        m_gyro = new ADIS16470_IMU();
+        ahrs = new AHRS(NavXComType.kMXP_SPI);
 
         m_odometry = new SwerveDriveOdometry(
             DrivetrainConstants.kDriveKinematics,
-            Rotation2d.fromDegrees(m_gyro.getAngle(IMUAxis.kZ)),
+            Rotation2d.fromDegrees(ahrs.getAngle()),
             new SwerveModulePosition[] {
                 m_frontLeft.getPosition(),
                 m_frontRight.getPosition(),
@@ -78,7 +81,7 @@ public class Drivetrain extends SubsystemBase {
     public void periodic() {
         // Update the odometry in the periodic block
         m_odometry.update(
-            Rotation2d.fromDegrees(m_gyro.getAngle(IMUAxis.kZ)),
+            Rotation2d.fromDegrees(getGyroValue()),
             new SwerveModulePosition[] {
                 m_frontLeft.getPosition(),
                 m_frontRight.getPosition(),
@@ -103,7 +106,7 @@ public class Drivetrain extends SubsystemBase {
      */
     public void resetOdometry(Pose2d pose) {
         m_odometry.resetPosition(
-            Rotation2d.fromDegrees(m_gyro.getAngle(IMUAxis.kZ)),
+            Rotation2d.fromDegrees(getGyroValue()),
             new SwerveModulePosition[] {
                 m_frontLeft.getPosition(),
                 m_frontRight.getPosition(),
@@ -144,7 +147,7 @@ public class Drivetrain extends SubsystemBase {
         var swerveModuleStates = DrivetrainConstants.kDriveKinematics.toSwerveModuleStates(
             fieldRelative
                 ? ChassisSpeeds.fromFieldRelativeSpeeds(xSpeedDelivered, ySpeedDelivered, rotDelivered,
-                        Rotation2d.fromDegrees(m_gyro.getAngle(IMUAxis.kZ)))
+                        Rotation2d.fromDegrees(getGyroValue()))
                 : new ChassisSpeeds(xSpeedDelivered, ySpeedDelivered, rotDelivered));
         SwerveDriveKinematics.desaturateWheelSpeeds(
             swerveModuleStates, DrivetrainConstants.kMaxSpeedMetersPerSecond);
@@ -194,7 +197,11 @@ public class Drivetrain extends SubsystemBase {
 
     /** Zeroes the heading of the robot. */
     public void zeroHeading() {
-        m_gyro.reset();
+        ahrs.reset();;
+    }
+
+    public double getGyroValue() {
+        return ahrs.getAngle() * (DrivetrainConstants.kGyroReversed ? -1 : 1);
     }
 
     /**
@@ -203,7 +210,7 @@ public class Drivetrain extends SubsystemBase {
      * @return the robot's heading in degrees, from -180 to 180
      */
     public double getHeading() {
-        return Rotation2d.fromDegrees(m_gyro.getAngle(IMUAxis.kZ)).getDegrees();
+        return Rotation2d.fromDegrees(getGyroValue()).getDegrees();
     }
 
     /**
@@ -212,6 +219,6 @@ public class Drivetrain extends SubsystemBase {
      * @return The turn rate of the robot, in degrees per second
      */
     public double getTurnRate() {
-        return m_gyro.getRate(IMUAxis.kZ) * (DrivetrainConstants.kGyroReversed ? -1.0 : 1.0);
+        return ahrs.getRate() * (DrivetrainConstants.kGyroReversed ? -1.0 : 1.0);
     }
 }
diff --git a/src/main/java/frc/robot/subsystems/sysid/ArmSysID.java b/src/main/java/frc/robot/subsystems/sysid/ArmSysID.java
index c9d2a9f..08bafa7 100644
--- a/src/main/java/frc/robot/subsystems/sysid/ArmSysID.java
+++ b/src/main/java/frc/robot/subsystems/sysid/ArmSysID.java
@@ -4,11 +4,8 @@ import static edu.wpi.first.units.Units.Volts;
 import static edu.wpi.first.units.Units.Radians;
 import static edu.wpi.first.units.Units.RadiansPerSecond;
 
-import edu.wpi.first.units.measure.AngularVelocity;
 import edu.wpi.first.units.measure.MutAngle;
 import edu.wpi.first.units.measure.MutAngularVelocity;
-import edu.wpi.first.units.measure.MutDistance;
-import edu.wpi.first.units.measure.MutLinearVelocity;
 import edu.wpi.first.units.measure.MutVoltage;
 import edu.wpi.first.wpilibj.RobotController;
 import edu.wpi.first.wpilibj2.command.Command;