ctre::phoenix::sensors::BasePigeonSimCollection Class Reference

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

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

Public Member Functions
	BasePigeonSimCollection (ctre::phoenix::sensors::BasePigeon &pigeon, bool isRibbonCable)
ErrorCode	SetRawHeading (double newHeading)
	Sets the simulated input heading position of the Pigeon IMU. More...
ErrorCode	AddHeading (double dHeading)
	Adds to the simulated heading of the Pigeon IMU. More...

Detailed Description

Collection of simulation functions available to a Pigeon IMU.

Use the getSimCollection() function in your BasePigeon object to create the respective sim collection.

Constructor & Destructor Documentation

BasePigeonSimCollection()

ctre::phoenix::sensors::BasePigeonSimCollection::BasePigeonSimCollection	(	ctre::phoenix::sensors::BasePigeon &	pigeon,
		bool	isRibbonCable
	)

Parameters

pigeon

Pigeon IMU to connect so sim collection

Member Function Documentation

AddHeading()

ErrorCode ctre::phoenix::sensors::BasePigeonSimCollection::AddHeading

(

double

dHeading

)

Adds to the simulated heading of the Pigeon IMU.

Parameters

dHeading

the change in heading in degrees

Returns

error code

SetRawHeading()

ErrorCode ctre::phoenix::sensors::BasePigeonSimCollection::SetRawHeading

(

double

newHeading

)

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.

Parameters

newHeading

the new input heading in degrees

Returns

error code

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

• ctre/phoenix/sensors/BasePigeonSimCollection.h