That 300 degree/sec maximum can have nasty results. We had the same problems with the original pigeon - we would exceed the maximum yaw rate during big collisions and then have to rezero.
In fact, that’s what resulted in us knocking opposing climbers off during their climb a couple years ago. A collision knocked the gyro off, and when the driver rezeroed he was facing the wrong direction. As a result… he tried to drive away from them and drove thru them. Oops.
The pigeon 2 has fixed all of that for us, and we’ve never had a problem nor a failure running them. They seem to be bulletproof.
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In 2023 we used the NavX2’s pitch angle for our auto routines so it could auto-balance on the charge station, and this worked well.
We tried using the NavX2 pitch angle in 2024 during our climb to regulate our ascent rate and slow down the climb if we tipped too much. This seemed to work great in testing, but was giving us problems in practice and actual matches.
By investigating logs, we determined that the pitch angle was accurate at the beginning of the match, but any time the robot took a moderate to severe impact, this would cause the pitch angle to shift significantly, and these shifts would accumulate over time. In one case we had the pitch angle off by over 45 degrees by the end of the match when flat on the carpet.
A weird detail was that this change in pitch was a function of the heading measurement. That is, if you turned a certain direction on the field, the pitch would read zero, but if you turned by 90 degrees from that angle, the pitch might read as 20 or 40 degrees or more.
I’m hoping the Pigeon 2 doesn’t have this problem.
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Highly recommend the Pigeon 2. My team used it for our first ever swerve bot in 2024 and the Pigeon had no failures or issues whatsoever during competition.