Our odometry is not accurate when we are being heavily defended, and this causes our turret to be off because it does not know the correct location for the robot. The Pigeon however has an accelerometer along with a gyro, this could in theory give us a position that would account for being deffended.
Implementaion
All this branch does is log the theoretical pose that the Pigeon would give us if we were to use it, just to see how noisy/usable it might be.
Justification
Our odometry is not accurate when we are being heavily defended, and this causes our turret to be off because it does not know the correct location for the robot. The Pigeon however has an accelerometer along with a gyro, this could in theory give us a position that would account for being deffended.
Implementaion
All this branch does is log the theoretical pose that the Pigeon would give us if we were to use it, just to see how noisy/usable it might be.