From 40f72df6e41f2d0cbad4188ac6fdb65a69fe9c9a Mon Sep 17 00:00:00 2001
From: mayabartels <mayabartels01@gmail.com>
Date: Sat, 11 Jan 2020 10:30:37 -0700
Subject: [PATCH] Pigeon on Smart Dashboard

Added pigeon values to smart dashboard.
---
 src/main/java/frc4388/robot/subsystems/Drive.java | 13 +++++++++++++
 1 file changed, 13 insertions(+)

diff --git a/src/main/java/frc4388/robot/subsystems/Drive.java b/src/main/java/frc4388/robot/subsystems/Drive.java
index 4a369d9..06c8fe7 100644
--- a/src/main/java/frc4388/robot/subsystems/Drive.java
+++ b/src/main/java/frc4388/robot/subsystems/Drive.java
@@ -13,6 +13,7 @@ import com.ctre.phoenix.motorcontrol.can.WPI_TalonSRX;
 import com.ctre.phoenix.sensors.PigeonIMU;
 
 import edu.wpi.first.wpilibj.drive.DifferentialDrive;
+import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard;
 import edu.wpi.first.wpilibj2.command.SubsystemBase;
 
 import frc4388.robot.Constants.DriveConstants;
@@ -60,6 +61,18 @@ public class Drive extends SubsystemBase {
     m_rightBackMotor.setInverted(InvertType.FollowMaster);
   }
 
+  @Override
+  public void periodic() {
+    try {
+      SmartDashboard.putNumber("Pigeon Yaw", getGyroYaw());
+      SmartDashboard.putNumber("Pigeon Pitch", getGyroPitch());
+      SmartDashboard.putNumber("Pigeon Roll", getGyroRoll());
+    } catch (Exception e) {
+      //TODO: handle exception
+      System.err.println();
+    }
+  }
+
   /**
    * Add your docs here.
    */