Evaluate whether other PigeonIMU methods should be used

[auscompgeek]

I suspect getFusedHeading() would be better for getting the current heading, for example.

[pietroglyph]

If I remember correctly (this is not mentioned on the Phoenix javadoc), getFusedHeading() returns an angle modded by 360. We need a continuous angle, because we need to know how many revolutions have been made when we determine track width.

We could detect rollovers from 360 deg to 0 deg if you think that the additional accuracy is important, but I didn't have any issues last year using getRawHeading() to get the track width for trajectory following on our competition robot.

[auscompgeek]

Ah, fair enough. Just that currently the generated project allocates a 3-array and reads the Z angle from that…

What other methods does the PigeonIMU have that returns the yaw?

[pietroglyph]

There's getYawPitchRoll and get6dQuaternion. The latter will be normalized on [-180, 180] when you convert to Euler angles, because you have an atan2 in that process. I don't know if getYawPitchRoll returns a non-modded angle. I vaguely recall it being modded from when we used it last year.