Add 2020 drivetrain replay binary
Also, add a small comment to the 2020 wpilib_interface.
Change-Id: Ie6e070566884f535db459dd15fb54c2069c02379
diff --git a/y2020/wpilib_interface.cc b/y2020/wpilib_interface.cc
index 4989390..3276722 100644
--- a/y2020/wpilib_interface.cc
+++ b/y2020/wpilib_interface.cc
@@ -228,6 +228,9 @@
sensor_reader.set_drivetrain_left_encoder(make_encoder(0));
sensor_reader.set_drivetrain_right_encoder(make_encoder(1));
+ // Note: If ADIS16470 is plugged in directly to the roboRIO SPI port without
+ // the Spartan Board, then trigger is on 26, reset 27, and chip select is
+ // CS0.
auto imu_trigger = make_unique<frc::DigitalInput>(0);
auto imu_reset = make_unique<frc::DigitalOutput>(1);
auto spi = make_unique<frc::SPI>(frc::SPI::Port::kOnboardCS2);