got onto phoenix six! updated all the things to match to phoenix6 2023

src/main/java/frc/robot/subsystems/SwerveSubsystem.java

@@ -4,8 +4,8 @@
 
 import java.util.List;
 
-import com.ctre.phoenix.sensors.BasePigeonSimCollection;
-import com.ctre.phoenix.sensors.WPI_Pigeon2;
+import com.ctre.phoenix6.sim.Pigeon2SimState;
+import com.ctre.phoenix6.hardware.Pigeon2;
 
 import edu.wpi.first.math.estimator.SwerveDrivePoseEstimator;
 import edu.wpi.first.math.geometry.Pose2d;
@@ -64,8 +64,8 @@ public class SwerveSubsystem extends SubsystemBase implements AutoCloseable {
 
     private final List<SwerveModule> modules = List.of(m_frontLeft, m_frontRight, m_backLeft, m_backRight);
 
-    private WPI_Pigeon2 m_gyro = new WPI_Pigeon2(0);
-    private final BasePigeonSimCollection gyroSim = m_gyro.getSimCollection();
+    private Pigeon2 m_gyro = new Pigeon2(0);
+    private final Pigeon2SimState gyroSim = new Pigeon2SimState(m_gyro);
 
     SwerveDrivePoseEstimator poseEstimator = new SwerveDrivePoseEstimator(
         DriveConstants.kDriveKinematics,
@@ -116,7 +116,7 @@ public SwerveSubsystem() {
     }
 
     // ! For testing purposes only
-    public SwerveSubsystem(WPI_Pigeon2 gyro) {
+    public SwerveSubsystem(Pigeon2 gyro) {
         m_gyro = gyro;
 
         new Thread(() -> {
@@ -246,7 +246,7 @@ public void simulate(){
         SmartDashboard.putData("Module 2", m_frontRight);
         SmartDashboard.putData("Module 3", m_backLeft);
         SmartDashboard.putData("Module 4", m_backRight);
-        gyroSim.addHeading(Units.radiansToDegrees(DriveConstants.kDriveKinematics.toChassisSpeeds(getModuleStates()).omegaRadiansPerSecond) 
+        gyroSim.addYaw(Units.radiansToDegrees(DriveConstants.kDriveKinematics.toChassisSpeeds(getModuleStates()).omegaRadiansPerSecond) 
         * (DriveConstants.kGyroReversed ? -1.0 : 1.0) * 0.02);
         SmartDashboard.putNumber("Heading", getHeading());
     }
@@ -277,6 +277,6 @@ public void close() throws Exception {
         m_frontRight.close();
         m_backLeft.close();
         m_backRight.close();
-        m_gyro.DestroyObject();
+        m_gyro.close();
     }
 }