more elevator and offset gyro 180

(cherry picked from commit 0239aac)

src/main/java/frc/robot/subsystems/drive/Drive.java

@@ -56,6 +56,7 @@ public class Drive extends SubsystemBase {
   private final GyroIOInputsAutoLogged gyroInputs = new GyroIOInputsAutoLogged();
   private final Module[] modules = new Module[4]; // FL, FR, BL, BR
   private final SysIdRoutine sysId;
+  private final Rotation2d gyroOffSet = Rotation2d.fromDegrees(180);
   private final Alert gyroDisconnectedAlert =
       new Alert("Disconnected gyro, using kinematics as fallback.", AlertType.kError);
 
@@ -167,7 +168,7 @@ public void periodic() {
       // Update gyro angle
       if (gyroInputs.connected) {
         // Use the real gyro angle
-        rawGyroRotation = gyroInputs.odometryYawPositions[i];
+        rawGyroRotation = gyroInputs.odometryYawPositions[i].plus(gyroOffSet);
       } else {
         // Use the angle delta from the kinematics and module deltas
         Twist2d twist = kinematics.toTwist2d(moduleDeltas);