Added warnings for NavX over serial

swervelib/parser/json/DeviceJson.java

@@ -27,6 +27,7 @@ import swervelib.motors.SwerveMotor;
 import swervelib.motors.TalonFXSwerve;
 import swervelib.motors.TalonSRXSwerve;
 import swervelib.telemetry.Alert;
+import swervelib.telemetry.Alert.AlertType;
 
 /**
  * Device JSON parsed class. Used to access the JSON data.
@@ -46,6 +47,12 @@ public class DeviceJson
   private final Alert  i2cLockupWarning        = new Alert("IMU",
                                                            "I2C lockup issue detected on roboRIO. Check console for more information.",
                                                            Alert.AlertType.WARNING);
+  /**
+   * NavX serial comm issue.
+   */
+  private final Alert  serialCommsIssueWarning = new Alert("IMU",
+                                                           "Serial comms is interrupted with USB and other serial traffic and causes intermittent connected/disconnection issues. Please consider another protocol or be mindful of this.",
+                                                           AlertType.WARNING);
   /**
    * The device type, e.g. pigeon/pigeon2/sparkmax/talonfx/navx
    */
@@ -124,7 +131,6 @@ public class DeviceJson
       case "analog":
         return new AnalogGyroSwerve(id);
       case "navx":
-      case "navx_mxp_spi":
       case "navx_spi":
         return new NavXSwerve(SPI.Port.kMXP);
       case "navx_i2c":
@@ -136,8 +142,12 @@ public class DeviceJson
         i2cLockupWarning.set(true);
         return new NavXSwerve(I2C.Port.kMXP);
       case "navx_usb":
+        DriverStation.reportWarning("WARNING: There is issues when using USB camera's and the NavX like this!\n" +
+                                    "https://pdocs.kauailabs.com/navx-mxp/guidance/selecting-an-interface/", false);
+        serialCommsIssueWarning.set(true);
         return new NavXSwerve(Port.kUSB);
       case "navx_mxp_serial":
+        serialCommsIssueWarning.set(true);
         return new NavXSwerve(Port.kMXP);
       case "pigeon":
         return new PigeonSwerve(id);