From cd7751ef712b2cf351d73c0dac4cdf4b48912520 Mon Sep 17 00:00:00 2001
From: thenetworkgrinch <thenetworkgrinch@users.noreply.github.com>
Date: Wed, 22 Feb 2023 23:10:57 -0600
Subject: [PATCH] Added more

---
 swervelib/imu/NavXSwerve.java         | 6 ++++--
 swervelib/parser/json/DeviceJson.java | 8 +++++++-
 2 files changed, 11 insertions(+), 3 deletions(-)

diff --git a/swervelib/imu/NavXSwerve.java b/swervelib/imu/NavXSwerve.java
index ac9e6f4..f52c25a 100644
--- a/swervelib/imu/NavXSwerve.java
+++ b/swervelib/imu/NavXSwerve.java
@@ -22,15 +22,17 @@ public class NavXSwerve extends SwerveIMU
 
   /**
    * Constructor for the NavX swerve.
+   *
+   * @param port Serial Port to connect to.
    */
-  public NavXSwerve()
+  public NavXSwerve(SerialPort.Port port)
   {
     try
     {
       /* Communicate w/navX-MXP via the MXP SPI Bus.                                     */
       /* Alternatively:  I2C.Port.kMXP, SerialPort.Port.kMXP or SerialPort.Port.kUSB     */
       /* See http://navx-mxp.kauailabs.com/guidance/selecting-an-interface/ for details. */
-      gyro = new AHRS(SerialPort.Port.kMXP);
+      gyro = new AHRS(port);
       SmartDashboard.putData(gyro);
     } catch (RuntimeException ex)
     {
diff --git a/swervelib/parser/json/DeviceJson.java b/swervelib/parser/json/DeviceJson.java
index 4efd8c4..9923a6b 100644
--- a/swervelib/parser/json/DeviceJson.java
+++ b/swervelib/parser/json/DeviceJson.java
@@ -1,5 +1,6 @@
 package swervelib.parser.json;
 
+import edu.wpi.first.wpilibj.SerialPort.Port;
 import swervelib.encoders.AnalogAbsoluteEncoderSwerve;
 import swervelib.encoders.CANCoderSwerve;
 import swervelib.encoders.SparkMaxEncoderSwerve;
@@ -78,8 +79,13 @@ public class DeviceJson
         return new ADXRS450Swerve();
       case "analog":
         return new AnalogGyroSwerve(id);
+      case "navx_onborard":
+        return new NavXSwerve(Port.kOnboard);
+      case "navx_usb":
+        return new NavXSwerve(Port.kUSB);
+      case "navx_mxp":
       case "navx":
-        return new NavXSwerve();
+        return new NavXSwerve(Port.kMXP);
       case "pigeon":
         return new PigeonSwerve(id);
       case "pigeon2":