Pigeon IMU Class. More...

#include <ctre/phoenix/sensors/BasePigeon.h>

Inheritance diagram for ctre::phoenix::sensors::BasePigeon:

Public Member Functions
	BasePigeon (int deviceNumber, std::string const &version, std::string const &canbus="")
	Create a Pigeon object that communicates with Pigeon on CAN Bus.

	~BasePigeon ()

int	SetYaw (double angleDeg, int timeoutMs=0)
	Sets the Yaw register to the specified value.

int	AddYaw (double angleDeg, int timeoutMs=0)
	Atomically add to the Yaw register.

int	SetYawToCompass (int timeoutMs=0)
	Sets the Yaw register to match the current compass value.

int	SetAccumZAngle (double angleDeg, int timeoutMs=0)
	Sets the AccumZAngle.

ErrorCode	GetLastError () const
	Call GetLastError() generated by this object.

ErrorCode	Get6dQuaternion (double wxyz[4]) const
	Get 6d Quaternion data.

ErrorCode	GetYawPitchRoll (double ypr[3]) const
	Get Yaw, Pitch, and Roll data.

double	GetYaw () const
	Get the yaw from the Pigeon.

double	GetPitch () const
	Get the pitch from the Pigeon.

double	GetRoll () const
	Get the roll from the Pigeon.

int	GetAccumGyro (double xyz_deg[3]) const
	Get AccumGyro data.

double	GetAbsoluteCompassHeading () const
	Get the absolute compass heading.

double	GetCompassHeading () const
	Get the continuous compass heading.

double	GetCompassFieldStrength () const
	Gets the compass' measured magnetic field strength.

double	GetTemp () const
	Gets the temperature of the pigeon.

uint32_t	GetUpTime () const
	Gets the current Pigeon uptime.

int	GetRawMagnetometer (int16_t rm_xyz[3]) const
	Get Raw Magnetometer data.

int	GetBiasedMagnetometer (int16_t bm_xyz[3]) const
	Get Biased Magnetometer data.

int	GetBiasedAccelerometer (int16_t ba_xyz[3]) const
	Get Biased Accelerometer data.

int	GetRawGyro (double xyz_dps[3]) const
	Get Raw Gyro data.

uint32_t	GetResetCount () const

uint32_t	GetResetFlags () const

uint32_t	GetFirmVers () const

bool	HasResetOccurred () const

ErrorCode	ConfigSetCustomParam (int newValue, int paramIndex, int timeoutMs=0)
	Sets the value of a custom parameter.

int	ConfigGetCustomParam (int paramIndex, int timeoutMs=0)
	Gets the value of a custom parameter.

ErrorCode	ConfigSetParameter (ParamEnum param, double value, uint8_t subValue, int ordinal, int timeoutMs=0)
	Sets a parameter.

double	ConfigGetParameter (ctre::phoenix::ParamEnum param, int ordinal, int timeoutMs=0)
	Gets a parameter.

ErrorCode	ConfigGetParameter (ParamEnum param, int32_t valueToSend, int32_t &valueReceived, uint8_t &subValue, int32_t ordinal, int32_t timeoutMs)
	Gets a parameter by passing an int by reference.

ErrorCode	SetStatusFramePeriod (PigeonIMU_StatusFrame statusFrame, uint8_t periodMs, int timeoutMs=0)
	Sets the period of the given status frame.

int	GetStatusFramePeriod (PigeonIMU_StatusFrame frame, int timeoutMs=0)
	Gets the period of the given status frame.

ErrorCode	SetControlFramePeriod (PigeonIMU_ControlFrame frame, int periodMs)
	Sets the period of the given control frame.

int	GetFirmwareVersion ()
	Gets the firmware version of the device.

ErrorCode	ClearStickyFaults (int timeoutMs=0)
	Clears the Sticky Faults.

void *	GetLowLevelHandle () const

virtual ctre::phoenix::ErrorCode	ConfigAllSettings (const BasePigeonConfiguration &allConfigs, int timeoutMs=50)
	Configures all persistent settings.

virtual void	GetAllConfigs (BasePigeonConfiguration &allConfigs, int timeoutMs=50)
	Gets all persistant settings.

virtual ErrorCode	ConfigFactoryDefault (int timeoutMs=50)
	Configures all persistent settings to defaults.

virtual BasePigeonSimCollection &	GetSimCollection ()

Public Member Functions inherited from ctre::phoenix::CANBusAddressable
	CANBusAddressable (int deviceNumber)
	Constructor for a CANBusAddressable device.

int	GetDeviceNumber ()

Static Public Member Functions
static void	DestroyAllBasePigeons ()
	Destructs all pigeon objects.

Protected Member Functions
	BasePigeon (ctre::phoenix::motorcontrol::can::TalonSRX &talonSrx)

Detailed Description

Pigeon IMU Class.

Class supports communicating over CANbus and over ribbon-cable (CAN Talon SRX).

Constructor & Destructor Documentation

◆ BasePigeon() [1/2]

ctre::phoenix::sensors::BasePigeon::BasePigeon	(	int	deviceNumber,
		std::string const &	version,
		std::string const &	canbus = "" )

Create a Pigeon object that communicates with Pigeon on CAN Bus.

Parameters

deviceNumber	CAN Device Id of Pigeon [0,62]
canbus	Name of the CANbus; can be a SocketCAN interface (on Linux), or a CANivore device name or serial number

◆ ~BasePigeon()

ctre::phoenix::sensors::BasePigeon::~BasePigeon ( )

◆ BasePigeon() [2/2]

ctre::phoenix::sensors::BasePigeon::BasePigeon ( ctre::phoenix::motorcontrol::can::TalonSRX & talonSrx )

protected

Member Function Documentation

◆ AddYaw()

int ctre::phoenix::sensors::BasePigeon::AddYaw	(	double	angleDeg,
		int	timeoutMs = 0 )

Atomically add to the Yaw register.

Parameters

angleDeg	Degrees to add to the Yaw register.
timeoutMs	Timeout value in ms. If nonzero, function will wait for config success and report an error if it times out. If zero, no blocking or checking is performed.

Returns: Error Code generated by function. 0 indicates no error.

◆ ClearStickyFaults()

ErrorCode ctre::phoenix::sensors::BasePigeon::ClearStickyFaults ( int timeoutMs = 0 )

Clears the Sticky Faults.

Returns: Error Code generated by function. 0 indicates no error.

◆ ConfigAllSettings()

virtual ctre::phoenix::ErrorCode ctre::phoenix::sensors::BasePigeon::ConfigAllSettings	(	const BasePigeonConfiguration &	allConfigs,
		int	timeoutMs = 50 )

virtual

Configures all persistent settings.

Parameters

allConfigs	Object with all of the persistant settings
timeoutMs	Timeout value in ms. If nonzero, function will wait for config success and report an error if it times out. If zero, no blocking or checking is performed.

Returns: Error Code generated by function. 0 indicates no error.

◆ ConfigFactoryDefault()

virtual ErrorCode ctre::phoenix::sensors::BasePigeon::ConfigFactoryDefault ( int timeoutMs = 50 )

virtual

Configures all persistent settings to defaults.

Parameters

timeoutMs Timeout value in ms. If nonzero, function will wait for config success and report an error if it times out. If zero, no blocking or checking is performed.

Returns: Error Code generated by function. 0 indicates no error.

Reimplemented in ctre::phoenix::sensors::PigeonIMU.

◆ ConfigGetCustomParam()

int ctre::phoenix::sensors::BasePigeon::ConfigGetCustomParam	(	int	paramIndex,
		int	timeoutMs = 0 )

Gets the value of a custom parameter.

This is for arbitrary use.

Sometimes it is necessary to save calibration/declination/offset information in the device. Particularly if the device is part of a subsystem that can be replaced.

Parameters

paramIndex	Index of custom parameter. [0-1]
timeoutMs	Timeout value in ms. If nonzero, function will wait for config success and report an error if it times out. If zero, no blocking or checking is performed.

Returns: Value of the custom param.

◆ ConfigGetParameter() [1/2]

double ctre::phoenix::sensors::BasePigeon::ConfigGetParameter	(	ctre::phoenix::ParamEnum	param,
		int	ordinal,
		int	timeoutMs = 0 )

Gets a parameter.

Generally this is not used. This can be utilized in

Using new features without updating API installation.
Errata workarounds to circumvent API implementation.
Allows for rapid testing / unit testing of firmware.

Parameters

param	Parameter enumeration.
ordinal	Ordinal of parameter.
timeoutMs	Timeout value in ms. If nonzero, function will wait for config success and report an error if it times out. If zero, no blocking or checking is performed.

Returns: Value of parameter.

◆ ConfigGetParameter() [2/2]

ErrorCode ctre::phoenix::sensors::BasePigeon::ConfigGetParameter	(	ParamEnum	param,
		int32_t	valueToSend,
		int32_t &	valueReceived,
		uint8_t &	subValue,
		int32_t	ordinal,
		int32_t	timeoutMs )

Gets a parameter by passing an int by reference.

Parameters

param	Parameter enumeration
valueToSend	Value to send to parameter
valueReceived	Reference to integer to receive
subValue	SubValue of parameter
ordinal	Ordinal of parameter
timeoutMs	Timeout value in ms. If nonzero, function will wait for config success and report an error if it times out. If zero, no blocking or checking is performed.

Returns: Error Code generated by function. 0 indicates no error.

◆ ConfigSetCustomParam()

ErrorCode ctre::phoenix::sensors::BasePigeon::ConfigSetCustomParam	(	int	newValue,
		int	paramIndex,
		int	timeoutMs = 0 )

Sets the value of a custom parameter.

This is for arbitrary use.

Sometimes it is necessary to save calibration/declination/offset information in the device. Particularly if the device is part of a subsystem that can be replaced.

Parameters

newValue	Value for custom parameter.
paramIndex	Index of custom parameter. [0-1]
timeoutMs	Timeout value in ms. If nonzero, function will wait for config success and report an error if it times out. If zero, no blocking or checking is performed.

Returns: Error Code generated by function. 0 indicates no error.

◆ ConfigSetParameter()

ErrorCode ctre::phoenix::sensors::BasePigeon::ConfigSetParameter	(	ParamEnum	param,
		double	value,
		uint8_t	subValue,
		int	ordinal,
		int	timeoutMs = 0 )

Sets a parameter.

Generally this is not used. This can be utilized in

Using new features without updating API installation.
Errata workarounds to circumvent API implementation.
Allows for rapid testing / unit testing of firmware.

Parameters

param	Parameter enumeration.
value	Value of parameter.
subValue	Subvalue for parameter. Maximum value of 255.
ordinal	Ordinal of parameter.
timeoutMs	Timeout value in ms. If nonzero, function will wait for config success and report an error if it times out. If zero, no blocking or checking is performed.

Returns: Error Code generated by function. 0 indicates no error.

◆ DestroyAllBasePigeons()

static void ctre::phoenix::sensors::BasePigeon::DestroyAllBasePigeons ( )

static

Destructs all pigeon objects.

◆ Get6dQuaternion()

ErrorCode ctre::phoenix::sensors::BasePigeon::Get6dQuaternion ( double wxyz[4] ) const

Get 6d Quaternion data.

Parameters

wxyz	Array to fill with quaternion data w[0], x[1], y[2], z[3]

Returns: The last ErrorCode generated.

◆ GetAbsoluteCompassHeading()

double ctre::phoenix::sensors::BasePigeon::GetAbsoluteCompassHeading ( ) const

Get the absolute compass heading.

Returns: compass heading [0,360) degrees.

◆ GetAccumGyro()

int ctre::phoenix::sensors::BasePigeon::GetAccumGyro ( double xyz_deg[3] ) const

Get AccumGyro data.

AccumGyro is the integrated gyro value on each axis.

Parameters

xyz_deg Array to fill with x[0], y[1], and z[2] AccumGyro data

Returns: The last ErrorCode generated.

◆ GetAllConfigs()

virtual void ctre::phoenix::sensors::BasePigeon::GetAllConfigs	(	BasePigeonConfiguration &	allConfigs,
		int	timeoutMs = 50 )

virtual

Gets all persistant settings.

Parameters

allConfigs	Object with all of the persistant settings
timeoutMs	Timeout value in ms. If nonzero, function will wait for config success and report an error if it times out. If zero, no blocking or checking is performed.

◆ GetBiasedAccelerometer()

int ctre::phoenix::sensors::BasePigeon::GetBiasedAccelerometer ( int16_t ba_xyz[3] ) const

Get Biased Accelerometer data.

Parameters

ba_xyz Array to fill with x[0], y[1], and z[2] data. These are in fixed point notation Q2.14. eg. 16384 = 1G

Returns: The last ErrorCode generated.

◆ GetBiasedMagnetometer()

int ctre::phoenix::sensors::BasePigeon::GetBiasedMagnetometer ( int16_t bm_xyz[3] ) const

Get Biased Magnetometer data.

Parameters

bm_xyz Array to fill with x[0], y[1], and z[2] data Number is equal to 0.6 microTeslas per unit.

Returns: The last ErrorCode generated.

◆ GetCompassFieldStrength()

double ctre::phoenix::sensors::BasePigeon::GetCompassFieldStrength ( ) const

Gets the compass' measured magnetic field strength.

Returns: field strength in Microteslas (uT).

◆ GetCompassHeading()

double ctre::phoenix::sensors::BasePigeon::GetCompassHeading ( ) const

Get the continuous compass heading.

Returns: continuous compass heading [-23040, 23040) degrees. Use SetCompassHeading to modify the wrap-around portion.

◆ GetFirmVers()

uint32_t ctre::phoenix::sensors::BasePigeon::GetFirmVers ( ) const

Returns: firmware version of Pigeon

◆ GetFirmwareVersion()

int ctre::phoenix::sensors::BasePigeon::GetFirmwareVersion ( )

Gets the firmware version of the device.

Returns: param holds the firmware version of the device. Device must be powered cycled at least once.

◆ GetLastError()

ErrorCode ctre::phoenix::sensors::BasePigeon::GetLastError ( ) const

Call GetLastError() generated by this object.

Not all functions return an error code but can potentially report errors.

This function can be used to retrieve those error codes.

Returns: The last ErrorCode generated.

◆ GetLowLevelHandle()

void * ctre::phoenix::sensors::BasePigeon::GetLowLevelHandle ( ) const

inline

Returns: Pigeon resource handle.

◆ GetPitch()

double ctre::phoenix::sensors::BasePigeon::GetPitch ( ) const

Get the pitch from the Pigeon.

Returns: Pitch

◆ GetRawGyro()

int ctre::phoenix::sensors::BasePigeon::GetRawGyro ( double xyz_dps[3] ) const

Get Raw Gyro data.

Parameters

xyz_dps Array to fill with x[0], y[1], and z[2] data in degrees per second.

Returns: The last ErrorCode generated.

◆ GetRawMagnetometer()

int ctre::phoenix::sensors::BasePigeon::GetRawMagnetometer ( int16_t rm_xyz[3] ) const

Get Raw Magnetometer data.

Parameters

rm_xyz Array to fill with x[0], y[1], and z[2] data Number is equal to 0.6 microTeslas per unit.

Returns: The last ErrorCode generated.

◆ GetResetCount()

uint32_t ctre::phoenix::sensors::BasePigeon::GetResetCount ( ) const

Returns: number of times Pigeon Reset

◆ GetResetFlags()

uint32_t ctre::phoenix::sensors::BasePigeon::GetResetFlags ( ) const

Returns: Reset flags for Pigeon

◆ GetRoll()

double ctre::phoenix::sensors::BasePigeon::GetRoll ( ) const

Get the roll from the Pigeon.

Returns: Roll

◆ GetSimCollection()

virtual BasePigeonSimCollection & ctre::phoenix::sensors::BasePigeon::GetSimCollection ( )

virtual

Returns: object that can set simulation inputs.

◆ GetStatusFramePeriod()

int ctre::phoenix::sensors::BasePigeon::GetStatusFramePeriod	(	PigeonIMU_StatusFrame	frame,
		int	timeoutMs = 0 )

Gets the period of the given status frame.

Parameters

frame	Frame to get the period of.
timeoutMs	Timeout value in ms. If nonzero, function will wait for config success and report an error if it times out. If zero, no blocking or checking is performed.

Returns: Period of the given status frame.

◆ GetTemp()

double ctre::phoenix::sensors::BasePigeon::GetTemp ( ) const

Gets the temperature of the pigeon.

Returns: Temperature in ('C)

◆ GetUpTime()

uint32_t ctre::phoenix::sensors::BasePigeon::GetUpTime ( ) const

Gets the current Pigeon uptime.

Returns: How long has Pigeon been running in whole seconds. Value caps at 255.

◆ GetYaw()

double ctre::phoenix::sensors::BasePigeon::GetYaw ( ) const

Get the yaw from the Pigeon.

Returns: Yaw

◆ GetYawPitchRoll()

ErrorCode ctre::phoenix::sensors::BasePigeon::GetYawPitchRoll ( double ypr[3] ) const

Get Yaw, Pitch, and Roll data.

Parameters

ypr	Array to fill with yaw[0], pitch[1], and roll[2] data. Yaw is within [-368,640, +368,640] degrees. Pitch is within [-90,+90] degrees. Roll is within [-90,+90] degrees.

Returns: The last ErrorCode generated.

◆ HasResetOccurred()

bool ctre::phoenix::sensors::BasePigeon::HasResetOccurred ( ) const

Returns: true iff a reset has occurred since last call.

◆ SetAccumZAngle()

int ctre::phoenix::sensors::BasePigeon::SetAccumZAngle	(	double	angleDeg,
		int	timeoutMs = 0 )

Sets the AccumZAngle.

Parameters

angleDeg	Degrees to set AccumZAngle to.
timeoutMs	Timeout value in ms. If nonzero, function will wait for config success and report an error if it times out. If zero, no blocking or checking is performed.

Returns: Error Code generated by function. 0 indicates no error.

◆ SetControlFramePeriod()

ErrorCode ctre::phoenix::sensors::BasePigeon::SetControlFramePeriod	(	PigeonIMU_ControlFrame	frame,
		int	periodMs )

Sets the period of the given control frame.

Parameters

frame	Frame whose period is to be changed.
periodMs	Period in ms for the given frame.

Returns: Error Code generated by function. 0 indicates no error.

◆ SetStatusFramePeriod()

ErrorCode ctre::phoenix::sensors::BasePigeon::SetStatusFramePeriod	(	PigeonIMU_StatusFrame	statusFrame,
		uint8_t	periodMs,
		int	timeoutMs = 0 )

Sets the period of the given status frame.

Parameters

statusFrame	Frame whose period is to be changed.
periodMs	Period in ms for the given frame.
timeoutMs	Timeout value in ms. If nonzero, function will wait for config success and report an error if it times out. If zero, no blocking or checking is performed.

Returns: Error Code generated by function. 0 indicates no error.

◆ SetYaw()

int ctre::phoenix::sensors::BasePigeon::SetYaw	(	double	angleDeg,
		int	timeoutMs = 0 )

Sets the Yaw register to the specified value.

Parameters

angleDeg	Degree of Yaw [+/- 368,640 degrees]
timeoutMs	Timeout value in ms. If nonzero, function will wait for config success and report an error if it times out. If zero, no blocking or checking is performed.

Returns: Error Code generated by function. 0 indicates no error.

◆ SetYawToCompass()

int ctre::phoenix::sensors::BasePigeon::SetYawToCompass ( int timeoutMs = 0 )

Sets the Yaw register to match the current compass value.

Parameters

timeoutMs Timeout value in ms. If nonzero, function will wait for config success and report an error if it times out. If zero, no blocking or checking is performed.

Returns: Error Code generated by function. 0 indicates no error.

The documentation for this class was generated from the following file:

ctre/phoenix/sensors/BasePigeon.h

Public Member Functions

Static Public Member Functions

Protected Member Functions

Detailed Description

Constructor & Destructor Documentation

◆ BasePigeon() [1/2]

◆ ~BasePigeon()

◆ BasePigeon() [2/2]

Member Function Documentation

◆ AddYaw()

◆ ClearStickyFaults()

◆ ConfigAllSettings()

◆ ConfigFactoryDefault()

◆ ConfigGetCustomParam()

◆ ConfigGetParameter() [1/2]

◆ ConfigGetParameter() [2/2]

◆ ConfigSetCustomParam()

◆ ConfigSetParameter()

◆ DestroyAllBasePigeons()

◆ Get6dQuaternion()

◆ GetAbsoluteCompassHeading()

◆ GetAccumGyro()

◆ GetAllConfigs()

◆ GetBiasedAccelerometer()

◆ GetBiasedMagnetometer()

◆ GetCompassFieldStrength()

◆ GetCompassHeading()

◆ GetFirmVers()

◆ GetFirmwareVersion()

◆ GetLastError()

◆ GetLowLevelHandle()

◆ GetPitch()

◆ GetRawGyro()

◆ GetRawMagnetometer()

◆ GetResetCount()

◆ GetResetFlags()

◆ GetRoll()

◆ GetSimCollection()

◆ GetStatusFramePeriod()

◆ GetTemp()

◆ GetUpTime()

◆ GetYaw()

◆ GetYawPitchRoll()

◆ HasResetOccurred()

◆ SetAccumZAngle()

◆ SetControlFramePeriod()

◆ SetStatusFramePeriod()

◆ SetYaw()

◆ SetYawToCompass()