BasePigeonSimCollection.h

Go to the documentation of this file.

/* Copyright (C) Cross The Road Electronics 2024 */
#pragma once
 
#include "ctre/phoenix/ErrorCode.h"
#include "ctre/phoenix/cci/Platform_CCI.h"
 
/* forward proto's */
namespace ctre {
    namespace phoenix {
        namespace sensors {
            class BasePigeon;
        }
    }
}
 
namespace ctre {
    namespace phoenix {
        namespace sensors {
            /**
              * Collection of simulation functions available to a Pigeon IMU.
              * Use the getSimCollection() function in your BasePigeon object to create the respective sim collection.
              */
            class BasePigeonSimCollection {
            public:
                /** 
                  * @param pigeon Pigeon IMU to connect so sim collection
                  */
                BasePigeonSimCollection(ctre::phoenix::sensors::BasePigeon& pigeon, bool isRibbonCable);
 
                /**
                 * Sets the simulated input heading position of the Pigeon IMU.
                 *
                 * The Pigeon IMU integrates the delta between each new raw heading value and uses
                 * this to calculate the true reported yaw and fused heading.
                 *
                 * When using the WPI Sim GUI, you will notice a readonly 'yaw' and
                 * settable 'RawHeading'.  The readonly signal is the emulated yaw
                 * which will match self-test in Tuner and the hardware API.  Changes to
                 * 'RawHeading' will be integrated into the emulated yaw.  This way
                 * a simulator can modify the heading without overriding your
                 * hardware API calls for home-ing your sensor.
                 *
                 * Inputs to this function over time should be continuous,
                 * as user calls of setYaw() or setFusedHeading()
                 * will be accounted for in the calculation.
                 *
                 * @param newHeading the new input heading in degrees
                 *
                 * @return  error code
                 */
                ErrorCode SetRawHeading(double newHeading);
 
                /**
                 * Adds to the simulated heading of the Pigeon IMU
                 *
                 * @param dHeading the change in heading in degrees
                 *
                 * @return error code
                 */
                ErrorCode AddHeading(double dHeading);
 
            private:
                int _id;
                ctre::phoenix::platform::DeviceType _type;
            };
        }
    }
}