Add ability to set Pigeon yaw to arbitrary angle and bump version

Author: aaplmath

build.gradle

@@ -13,7 +13,7 @@ plugins {
 }
 
 group 'frc.team4373'
-version '2.0.0'
+version '2.0.1'
 
 sourceCompatibility = 1.11
 

src/main/java/frc/team4373/swerve/SwerveDrivetrain.java

@@ -335,9 +335,17 @@ public void resetEncoder(WheelID wheelID) {
     }
 
     /**
-     * Resets the pigeon's yaw to consider the current orientation field-forward.
+     * Resets the pigeon's yaw to consider the current orientation field-forward (zero degrees).
      */
     public void resetPigeonYaw() {
         this.initialAngle = this.getPigeonYawRaw();
     }
+
+    /**
+     * Sets the pigeon's yaw to be a given value at the current position.
+     * @param angle the value, in degrees, that the pigeon should have at the current position..
+     */
+    public void setPigeonYaw(double angle) {
+        this.initialAngle = this.getPigeonYawRaw() + angle;
+    }
 }