diff --git a/src/main/java/frc/robot/subsystems/swerve/Swerve.java b/src/main/java/frc/robot/subsystems/swerve/Swerve.java
index d5ec2df..fab3f5f 100644
--- a/src/main/java/frc/robot/subsystems/swerve/Swerve.java
+++ b/src/main/java/frc/robot/subsystems/swerve/Swerve.java
@@ -3,7 +3,6 @@
 import java.util.Optional;
 import org.littletonrobotics.junction.AutoLogOutput;
 import org.littletonrobotics.junction.Logger;
-import com.kauailabs.navx.frc.AHRS;
 import com.pathplanner.lib.auto.AutoBuilder;
 import edu.wpi.first.math.geometry.Pose2d;
 import edu.wpi.first.math.geometry.Rotation2d;
@@ -26,8 +25,7 @@
 public class Swerve extends SubsystemBase {
     public SwerveDriveOdometry swerveOdometry;
     public SwerveModule[] swerveMods;
-    public AHRS gyro = new AHRS(Constants.Swerve.navXID);
-    private double fieldOffset = gyro.getYaw();
+    private double fieldOffset;
     private SwerveInputsAutoLogged inputs = new SwerveInputsAutoLogged();
     private SwerveIO swerveIO;
     private boolean hasInitialized = false;
@@ -38,6 +36,7 @@ public class Swerve extends SubsystemBase {
     public Swerve(SwerveIO swerveIO) {
         this.swerveIO = swerveIO;
         swerveIO.updateInputs(inputs);
+        fieldOffset = inputs.yaw;
         swerveMods = new SwerveModule[] {
             swerveIO.createSwerveModule(0, Constants.Swerve.Mod0.DRIVE_MOTOR_ID,
                 Constants.Swerve.Mod0.ANGLE_MOTOR_ID, Constants.Swerve.Mod0.CAN_CODER_ID,
@@ -173,7 +172,7 @@ public Rotation2d getHeading() {
      * @return Current rotation/yaw of gyro as {@link Rotation2d}
      */
     public Rotation2d getGyroYaw() {
-        float yaw = gyro.getYaw();
+        float yaw = inputs.yaw;
         return (Constants.Swerve.INVERT_GYRO) ? Rotation2d.fromDegrees(-yaw)
             : Rotation2d.fromDegrees(yaw);
     }