Skip to content
Redux Robotics Redux Robotics REDUX

Tutorial: Your First Canandgyro

This tutorial covers the complete setup of a Redux Canandgyro. By the end of this lesson, you will have a wired, configured, and programmed sensor reading robot heading.

Prerequisites

Section titled “Prerequisites”
  • A Redux Canandgyro
  • A RoboRIO with a configured CAN bus
  • A laptop with WPILib VSCode installed
  • A basic FRC robot project

  1. Basic Wiring
    Connect the Canandgyro to your robot’s CAN bus.

    • CAN High: Yellow wire to the yellow terminal/pad.
    • CAN Low: Green wire to the green terminal/pad.
    • Power (12V): Red wire to a 12V source.
    • Ground: Black wire to the corresponding ground port.

  2. Install ReduxLib
    Open your FRC project in VSCode.

    • Press Ctrl+Shift+P.
    • Select WPILib: Manage Vendor Libraries.
    • Choose Install new libraries (online).
    • Paste the ReduxLib URL: https://frcsdk.reduxrobotics.com/ReduxLib_2026.json

  3. Configure the CAN ID
    All Redux devices ship with CAN ID 0. We can give it a unique ID using the Alchemist or the web dashboard.

    • Deploy a basic robot project that includes CanandEventLoop.getInstance(); in robotInit.
    • Open a web browser and navigate to http://roborio-XXXX-frc.local:7244 (replacing XXXX with your team number).
    • Find the device with ID 0, type 1 into the CAN device ID box, and click Change ID.

  4. Write your first code
    In your Robot.java file, let’s read the heading (yaw) of the gyro.

    import com.reduxrobotics.sensors.canandgyro.Canandgyro;
    

    public class Robot extends TimedRobot {
      // Create the sensor object with ID 1
      private final Canandgyro m_gyro = new Canandgyro(1);
    

      @Override
      public void teleopPeriodic() {
        // Read the heading in rotations [-0.5, 0.5)
        double heading = m_gyro.getYaw();
    

        // Convert to degrees for easier reading
        double degrees = heading * 360.0;
        System.out.println("Robot Heading: " + degrees);
      }
    }

  5. Verify on the Dashboard
    Deploy your code and open the RIOlog. You should see the heading value changing as you rotate the gyro. If you rotate it 360 degrees, it should return to near its starting value.

Next Steps

Section titled “Next Steps”

Now that you have the basics working, explore the Programming Guide to learn about 3D rotations, acceleration data, and manual calibration.