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Team2337 / 2022-Presented-By-Noahs-Arcade

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Configure Pigeon + Pigeon 2 #52

Closed ZachOrr closed 2 years ago

ZachOrr commented 2 years ago

Need to write a little code and test the Pigeon 2.

Might need to do something with our RobotType - 2021 bot has a Pigeon while the 2022 bots will have a Pigeon 2. I'm pretty sure the only difference for us is the constructors. We might want to just hold a reference to a BasePigeon in the Drivetrain until we're done testing with the 2021 robot.

https://store.ctr-electronics.com/content/api/java/html/classcom_1_1ctre_1_1phoenix_1_1sensors_1_1_pigeon2.html

ZachOrr commented 2 years ago

I put up a PR for this - but Sean was saying that the regular PigeonIMU object works fine and we don't need to use the Pigeon2 object. This is probably true - we're only reading the yaw from the Pigeon and not using any of the new Pigeon2 API like configuring a mount pose.

If we need Pigeon 2 API for some reason - we can re-open and merge that PR. Otherwise - we can close for now.