Change gyros to have a getRotation3d() and getAccel() methods #44
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It is a logical step and reduces some level of redundancy however it does bind WPI non-representative (not a interface spec) types inside of abstractions, which is unprecedented, but not unwarranted. |
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I will approve it and accept the precedence. |
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After a single test you can merge it @7910f6ba7ee4 |
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Got it. Physical test? |
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Yes |
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Tested and it doesn't break anything |
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I feel like creating the Rotation3d at the gyro level instead of the SwerveDrive level could make more sense. I've also added a getAccel() method (even though we're not using that for pose estimation anymore) which creates a Translation3d at the gyro level, so it might also be better for the Rotation3d to be there too.
I have the array filler still there, but we could also remove it in this PR. Thoughts?