sensors namespace More...

Classes
class	AbsoluteSensorRangeRoutines
	Class to handle routines specific to AbsoluteSensorRange. More...

class	BasePigeon
	Pigeon IMU Class. More...

struct	BasePigeonConfiguration
	Configurables available to Pigeon. More...

struct	BasePigeonConfigUtils
	Util class to help with Pigeon configurations. More...

class	BasePigeonSimCollection
	Collection of simulation functions available to a Pigeon IMU. More...

class	CANCoder
	CTRE CANCoder. More...

struct	CANCoderConfiguration
	Configurables available to CANCoder. More...

struct	CANCoderConfigUtils
	Util class to help with configuring CANCoder. More...

struct	CANCoderFaults
	Faults available to CANCoderFaults. More...

class	CANCoderSimCollection
	Collection of simulation functions available to a CANCoder. More...

struct	CANCoderStickyFaults
	Sticky Faults for CANCoder (Currently has none) More...

class	PigeonIMU
	Pigeon IMU Class. More...

struct	PigeonIMU_Faults
	Sticky faults available to Pigeon. More...

struct	PigeonIMU_StickyFaults
	Sticky faults available to Pigeon. More...

struct	PigeonIMUConfiguration
	Configurables available to Pigeon. More...

struct	PigeonIMUConfigUtils
	Util class to help with Pigeon configurations. More...

class	SensorInitializationStrategyRoutines
	Class to handle routines specific to VelocityMeasPeriod. More...

class	SensorTimeBaseRoutines
	Class to handle routines specific to SensorTimeBase. More...

class	SensorVelocityMeasPeriodRoutines
	Class to handle routines specific to VelocityMeasPeriod. More...

class	WPI_CANCoder
	CTRE CANCoder. More...

class	WPI_PigeonIMU

Enumerations
enum	CANCoderStatusFrame { CANCoderStatusFrame_SensorData = 0x041400 , CANCoderStatusFrame_VbatAndFaults = 0x041440 }
	Enumerated type for status frame types. More...

enum	SensorVelocityMeasPeriod { Period_1Ms = 1 , Period_2Ms = 2 , Period_5Ms = 5 , Period_10Ms = 10 , Period_20Ms = 20 , Period_25Ms = 25 , Period_50Ms = 50 , Period_100Ms = 100 }
	Enumerate filter periods for any sensor that measures velocity. More...

enum	SensorInitializationStrategy { BootToZero = 0 , BootToAbsolutePosition = 1 }
	Enum for how CANCoder should initialize its position register on boot. More...

enum	PigeonIMU_StatusFrame { PigeonIMU_CondStatus_1_General = 0x042000 , PigeonIMU_CondStatus_9_SixDeg_YPR = 0x042200 , PigeonIMU_CondStatus_6_SensorFusion = 0x042140 , PigeonIMU_CondStatus_11_GyroAccum = 0x042280 , PigeonIMU_CondStatus_2_GeneralCompass = 0x042040 , PigeonIMU_CondStatus_3_GeneralAccel = 0x042080 , PigeonIMU_CondStatus_10_SixDeg_Quat = 0x042240 , PigeonIMU_RawStatus_4_Mag = 0x041CC0 , PigeonIMU_BiasedStatus_2_Gyro = 0x041C40 , PigeonIMU_BiasedStatus_4_Mag = 0x041CC0 , PigeonIMU_BiasedStatus_6_Accel = 0x41D40 }
	Enumerated type for status frame types. More...

enum	SensorTimeBase { Per100Ms_Legacy = 0 , PerSecond = 1 , PerMinute = 2 }
	Velocity Measurement Periods. More...

enum	PigeonIMU_ControlFrame { PigeonIMU_CondStatus_Control_1 = 0x00042800 }
	Enumerated type for status frame types. More...

enum	MagnetFieldStrength { Invalid_Unknown = 0 , BadRange_RedLED = 1 , Adequate_OrangeLED = 2 , Good_GreenLED = 3 }
	Indicates the magnet field strength of a magnet-based sensor. More...

enum	AbsoluteSensorRange { Unsigned_0_to_360 = 0 , Signed_PlusMinus180 = 1 }
	Enum for how to range the absolute sensor position. More...

Detailed Description

sensors namespace

Enumeration Type Documentation

◆ AbsoluteSensorRange

enum ctre::phoenix::sensors::AbsoluteSensorRange

Enum for how to range the absolute sensor position.

Deprecated:: This device's Phoenix 5 API is deprecated for removal in the 2025 season. Users should update to Phoenix 6 firmware and migrate to the Phoenix 6 API. A migration guide is available at https://v6.docs.ctr-electronics.com/en/stable/docs/migration/migration-guide/index.html.

If the Phoenix 5 API must be used for this device, the device must have 22.X firmware. This firmware is available in Tuner X after selecting Phoenix 5 in the firmware year dropdown.

Enumerator

Unsigned_0_to_360

Express the absolute position as an unsigned value.

E.g. [0,+1) rotations or [0,360) deg.

Signed_PlusMinus180

Express the absolute position as an signed value.

E.g. [-0.5,+0.5) rotations or [-180,+180) deg.

◆ CANCoderStatusFrame

enum ctre::phoenix::sensors::CANCoderStatusFrame

Enumerated type for status frame types.

Deprecated:: This device's Phoenix 5 API is deprecated for removal in the 2025 season. Users should update to Phoenix 6 firmware and migrate to the Phoenix 6 API. A migration guide is available at https://v6.docs.ctr-electronics.com/en/stable/docs/migration/migration-guide/index.html.

If the Phoenix 5 API must be used for this device, the device must have 22.X firmware. This firmware is available in Tuner X after selecting Phoenix 5 in the firmware year dropdown.

Enumerator
CANCoderStatusFrame_SensorData
CANCoderStatusFrame_VbatAndFaults

◆ MagnetFieldStrength

enum ctre::phoenix::sensors::MagnetFieldStrength

Indicates the magnet field strength of a magnet-based sensor.

Deprecated:: This device's Phoenix 5 API is deprecated for removal in the 2025 season. Users should update to Phoenix 6 firmware and migrate to the Phoenix 6 API. A migration guide is available at https://v6.docs.ctr-electronics.com/en/stable/docs/migration/migration-guide/index.html.

If the Phoenix 5 API must be used for this device, the device must have 22.X firmware. This firmware is available in Tuner X after selecting Phoenix 5 in the firmware year dropdown.

Enumerator
Invalid_Unknown	Magnet Field strength cannot be determined.
BadRange_RedLED	Magnet field is far too low (too far) or far too high (too close).
Adequate_OrangeLED	Magnet field is adequate, sensor can be used in this range with slightly reduced accuracy.
Good_GreenLED	Magnet field is ideal.

◆ PigeonIMU_ControlFrame

enum ctre::phoenix::sensors::PigeonIMU_ControlFrame

Enumerated type for status frame types.

Enumerator
PigeonIMU_CondStatus_Control_1

◆ PigeonIMU_StatusFrame

enum ctre::phoenix::sensors::PigeonIMU_StatusFrame

Enumerated type for status frame types.

Enumerator
PigeonIMU_CondStatus_1_General
PigeonIMU_CondStatus_9_SixDeg_YPR
PigeonIMU_CondStatus_6_SensorFusion
PigeonIMU_CondStatus_11_GyroAccum
PigeonIMU_CondStatus_2_GeneralCompass
PigeonIMU_CondStatus_3_GeneralAccel
PigeonIMU_CondStatus_10_SixDeg_Quat
PigeonIMU_RawStatus_4_Mag
PigeonIMU_BiasedStatus_2_Gyro
PigeonIMU_BiasedStatus_4_Mag
PigeonIMU_BiasedStatus_6_Accel

◆ SensorInitializationStrategy

enum ctre::phoenix::sensors::SensorInitializationStrategy

Enum for how CANCoder should initialize its position register on boot.

Deprecated:: This device's Phoenix 5 API is deprecated for removal in the 2025 season. Users should update to Phoenix 6 firmware and migrate to the Phoenix 6 API. A migration guide is available at https://v6.docs.ctr-electronics.com/en/stable/docs/migration/migration-guide/index.html.

If the Phoenix 5 API must be used for this device, the device must have 22.X firmware. This firmware is available in Tuner X after selecting Phoenix 5 in the firmware year dropdown.

Enumerator

BootToZero

On boot up, set position to zero.

BootToAbsolutePosition

On boot up, sync to the Absolute Position signal.

The Absolute position signal will be signed according to the selected Absolute Sensor Range.

◆ SensorTimeBase

enum ctre::phoenix::sensors::SensorTimeBase

Velocity Measurement Periods.

Deprecated:: This device's Phoenix 5 API is deprecated for removal in the 2025 season. Users should update to Phoenix 6 firmware and migrate to the Phoenix 6 API. A migration guide is available at https://v6.docs.ctr-electronics.com/en/stable/docs/migration/migration-guide/index.html.

If the Phoenix 5 API must be used for this device, the device must have 22.X firmware. This firmware is available in Tuner X after selecting Phoenix 5 in the firmware year dropdown.

Enumerator
Per100Ms_Legacy	Legacy Mode.
PerSecond	Per-Second Velocities.
PerMinute	Per-Minute Velocities.

◆ SensorVelocityMeasPeriod

enum ctre::phoenix::sensors::SensorVelocityMeasPeriod

Enumerate filter periods for any sensor that measures velocity.

Enumerator
Period_1Ms	1ms velocity measurement period
Period_2Ms	2ms velocity measurement period
Period_5Ms	5ms velocity measurement period
Period_10Ms	10ms velocity measurement period
Period_20Ms	20ms velocity measurement period
Period_25Ms	25ms velocity measurement period
Period_50Ms	50ms velocity measurement period
Period_100Ms	100ms velocity measurement period

Classes

Enumerations

Detailed Description

Enumeration Type Documentation

◆ AbsoluteSensorRange

◆ CANCoderStatusFrame

◆ MagnetFieldStrength

◆ PigeonIMU_ControlFrame

◆ PigeonIMU_StatusFrame

◆ SensorInitializationStrategy

◆ SensorTimeBase

◆ SensorVelocityMeasPeriod