Pigeon 2 Class. More...

#include <ctre/phoenix/sensors/Pigeon2.h>

Inheritance diagram for ctre::phoenix::sensors::Pigeon2:

Public Member Functions
	Pigeon2 (int deviceNumber, std::string const &canbus="")
	Create a Pigeon object that communicates with Pigeon on CAN Bus. More...

ErrorCode	GetFaults (Pigeon2_Faults &toFill)
	Gets the fault status. More...

ErrorCode	GetStickyFaults (Pigeon2_StickyFaults &toFill)
	Gets the sticky fault status. More...

ErrorCode	ConfigMountPose (AxisDirection forward, AxisDirection up, int timeoutMs=50)
	Configure the Mount Pose using the primary axis. More...

ErrorCode	ConfigMountPose (double yaw, double pitch, double roll, int timeoutMs=0)
	Configure the mounting pose of the Pigeon2. More...

ErrorCode	ConfigMountPoseYaw (double yaw, int timeoutMs=0)
	Configure the mounting pose Yaw of the Pigeon2. More...

ErrorCode	ConfigMountPosePitch (double pitch, int timeoutMs=0)
	Configure the mounting pose Pitch of the Pigeon2. More...

ErrorCode	ConfigMountPoseRoll (double roll, int timeoutMs=0)
	Configure the mounting pose Roll of the Pigeon2. More...

ErrorCode	ConfigXAxisGyroError (double err, int timeoutMs=0)
	Configures the X Axis Gyroscope Error for 1 rotation. More...

ErrorCode	ConfigYAxisGyroError (double err, int timeoutMs=0)
	Configures the Y Axis Gyroscope Error for 1 rotation. More...

ErrorCode	ConfigZAxisGyroError (double err, int timeoutMs=0)
	Configures the Z Axis Gyroscope Error for 1 rotation. More...

ErrorCode	ConfigEnableCompass (bool enable, int timeoutMs=0)
	Enables the magnetometer fusion for Pigeon2. More...

ErrorCode	ConfigDisableTemperatureCompensation (bool disable, int timeoutMs=0)
	Disables temperature compensation from Pigeon2. More...

ErrorCode	ConfigDisableNoMotionCalibration (bool disable, int timeoutMs=0)
	Disables the no-motion calibration from Pigeon2. More...

ErrorCode	ZeroGyroBiasNow (int timeoutMs=0)
	Performs an offset calibration on gyro bias. More...

ErrorCode	GetGravityVector (double gravVector[3]) const
	Get the Gravity Vector. More...

ErrorCode	ConfigAllSettings (Pigeon2Configuration &settings, int timeoutMs=50)
	Configures all persistent settings. More...

void	GetAllConfigs (Pigeon2Configuration &allConfigs, int timeoutMs=50)
	Gets all persistant settings. More...

Public Member Functions inherited from 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. More...

	~BasePigeon ()

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

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

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

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

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

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

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

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

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

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

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

double	GetAbsoluteCompassHeading () const
	Get the absolute compass heading. More...

double	GetCompassHeading () const
	Get the continuous compass heading. More...

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

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

uint32_t	GetUpTime () const
	Gets the current Pigeon uptime. More...

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

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

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

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

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. More...

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

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

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

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. More...

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

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

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

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

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

void *	GetLowLevelHandle () const

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

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

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

virtual BasePigeonSimCollection &	GetSimCollection ()

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

int	GetDeviceNumber ()

Additional Inherited Members
Static Public Member Functions inherited from ctre::phoenix::sensors::BasePigeon
static void	DestroyAllBasePigeons ()
	Destructs all pigeon objects. More...

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

Detailed Description

Pigeon 2 Class.

Class supports communicating over CANbus.



// Example usage of a Pigeon 2

Pigeon2 pigeon{0}; // creates a new Pigeon2 with ID 0



Pigeon2Configuration config;

// set mount pose as rolled 90 degrees counter-clockwise

config.MountPoseYaw = 0;

config.MountPosePitch = 0;

config.MountPoseRoll = 90;

pigeon.ConfigAllSettings(config);



std::cout << pigeon.GetYaw() << std::endl; // prints the yaw of the Pigeon

std::cout << pigeon.GetPitch() << std::endl; // prints the pitch of the Pigeon

std::cout << pigeon.GetRoll() << std::endl; // prints the roll of the Pigeon



double gravityVec[3];

pigeon.GetGravityVector(gravityVec); // gets the gravity vector of the Pigeon 2



ErrorCode error = pigeon.GetLastError(); // gets the last error generated by the Pigeon

Pigeon2_Faults faults;

ErrorCode faultsError = pigeon.GetFaults(faults); // fills faults with the current Pigeon 2 faults; returns the last error generated

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.

Constructor & Destructor Documentation

◆ Pigeon2()

ctre::phoenix::sensors::Pigeon2::Pigeon2	(	int	deviceNumber,
		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

Member Function Documentation

◆ ConfigAllSettings()

ErrorCode ctre::phoenix::sensors::Pigeon2::ConfigAllSettings	(	Pigeon2Configuration &	settings,
		int	timeoutMs = `50`
	)

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.

◆ ConfigDisableNoMotionCalibration()

ErrorCode ctre::phoenix::sensors::Pigeon2::ConfigDisableNoMotionCalibration	(	bool	disable,
		int	timeoutMs = `0`
	)

Disables the no-motion calibration from Pigeon2.

Parameters

disable	Boolean to disable/enable no-motion calibration
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: ErrorCode Status of the config response

◆ ConfigDisableTemperatureCompensation()

ErrorCode ctre::phoenix::sensors::Pigeon2::ConfigDisableTemperatureCompensation	(	bool	disable,
		int	timeoutMs = `0`
	)

Disables temperature compensation from Pigeon2.

Parameters

disable	Boolean to disable/enable temperature compensation
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: ErrorCode Status of the config response

◆ ConfigEnableCompass()

ErrorCode ctre::phoenix::sensors::Pigeon2::ConfigEnableCompass	(	bool	enable,
		int	timeoutMs = `0`
	)

Enables the magnetometer fusion for Pigeon2.

This is not recommended for FRC use

Parameters

enable	Boolean to enable/disable magnetometer fusion
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: ErrorCode Status of the config response

◆ ConfigMountPose() [1/2]

ErrorCode ctre::phoenix::sensors::Pigeon2::ConfigMountPose	(	AxisDirection	forward,
		AxisDirection	up,
		int	timeoutMs = `50`
	)

Configure the Mount Pose using the primary axis.

This is useful if the Pigeon 2.0 is mounted straight, and you only need to describe what axis is forward and what axis is up.

Parameters

forward	Axis that points forward from the robot
up	Axis that points up from the robot
timeoutMs	Config timeout in milliseconds.

Returns: OK if successful, InvalidParamValue if both forward and up are of the same primary axis, otherwise config return.

◆ ConfigMountPose() [2/2]

ErrorCode ctre::phoenix::sensors::Pigeon2::ConfigMountPose	(	double	yaw,
		double	pitch,
		double	roll,
		int	timeoutMs = `0`
	)

Configure the mounting pose of the Pigeon2.

This is the Yaw-Pitch-Roll the Pigeon2 underwent to get to its current orientation, referenced from the robot's point of view.

This is only necessary if the Pigeon2 is mounted at an exotic angle near the gimbal lock point or not forward.

If the pigeon is relatively flat and pointed forward, this is not needed.

Examples:

If the Pigeon2 is pointed directly right, that corresponds to a -90 yaw, 0 pitch, and 0 roll, as it yaw'd 90 degrees clockwise.

If the Pigeon2 points upwards, that's a 0 yaw, -90 pitch, 0 roll, as it pitched 90 degrees clockwise.

Parameters

yaw	Yaw angle needed to reach the current orientation in degrees.
pitch	Pitch angle needed to reach the current orientation in degrees.
roll	Roll angle needed to reach the current orientation in degrees.
timeoutMs	Config timeout in milliseconds.

Returns: Worst error code of all config sets.

◆ ConfigMountPosePitch()

ErrorCode ctre::phoenix::sensors::Pigeon2::ConfigMountPosePitch	(	double	pitch,
		int	timeoutMs = `0`
	)

Configure the mounting pose Pitch of the Pigeon2.

See configMountPose(double, double, double, int)

Parameters

pitch	Pitch angle needed to reach the current orientation in degrees.
timeoutMs	Config timeout in milliseconds.

Returns: ErrorCode of configSet

◆ ConfigMountPoseRoll()

ErrorCode ctre::phoenix::sensors::Pigeon2::ConfigMountPoseRoll	(	double	roll,
		int	timeoutMs = `0`
	)

Configure the mounting pose Roll of the Pigeon2.

See configMountPose(double, double, double, int)

Parameters

roll	Roll angle needed to reach the current orientation in degrees.
timeoutMs	Config timeout in milliseconds.

Returns: ErrorCode of configSet

◆ ConfigMountPoseYaw()

ErrorCode ctre::phoenix::sensors::Pigeon2::ConfigMountPoseYaw	(	double	yaw,
		int	timeoutMs = `0`
	)

Configure the mounting pose Yaw of the Pigeon2.

See configMountPose(double, double, double, int)

Parameters

yaw	Yaw angle needed to reach the current orientation in degrees.
timeoutMs	Config timeout in milliseconds.

Returns: ErrorCode of configSet

◆ ConfigXAxisGyroError()

ErrorCode ctre::phoenix::sensors::Pigeon2::ConfigXAxisGyroError	(	double	err,
		int	timeoutMs = `0`
	)

Configures the X Axis Gyroscope Error for 1 rotation.

Parameters

err	Degrees that Pigeon 2.0 overshot after 1 rotation (i.e. overshot 1 degree is 1; undershot by 3 degrees is -3)
timeoutMs	Config timeout in milliseconds.

Returns: ErrorCode fo configSet

◆ ConfigYAxisGyroError()

ErrorCode ctre::phoenix::sensors::Pigeon2::ConfigYAxisGyroError	(	double	err,
		int	timeoutMs = `0`
	)

Configures the Y Axis Gyroscope Error for 1 rotation.

Parameters

err	Degrees that Pigeon 2.0 overshot after 1 rotation (i.e. overshot 1 degree is 1; undershot by 3 degrees is -3)
timeoutMs	Config timeout in milliseconds.

Returns: ErrorCode fo configSet

◆ ConfigZAxisGyroError()

ErrorCode ctre::phoenix::sensors::Pigeon2::ConfigZAxisGyroError	(	double	err,
		int	timeoutMs = `0`
	)

Configures the Z Axis Gyroscope Error for 1 rotation.

Parameters

err	Degrees that Pigeon 2.0 overshot after 1 rotation (i.e. overshot 1 degree is 1; undershot by 3 degrees is -3)
timeoutMs	Config timeout in milliseconds.

Returns: ErrorCode fo configSet

◆ GetAllConfigs()

void ctre::phoenix::sensors::Pigeon2::GetAllConfigs	(	Pigeon2Configuration &	allConfigs,
		int	timeoutMs = `50`
	)

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.

◆ GetFaults()

ErrorCode ctre::phoenix::sensors::Pigeon2::GetFaults ( Pigeon2_Faults & toFill )

Gets the fault status.

Parameters

toFill Container for fault statuses.

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

◆ GetGravityVector()

ErrorCode ctre::phoenix::sensors::Pigeon2::GetGravityVector ( double gravVector[3] ) const

Get the Gravity Vector.

This provides a vector that points toward ground. This is useful for applications like an arm, where the z-value of the gravity vector corresponds to the feed-forward needed to hold the arm steady. The gravity vector is calculated after the mount pose, so if the pigeon is where it was mounted, the gravity vector is {0, 0, 1}.

Parameters

gravVector Pass in a double array of size 3 to get the gravity vector

Returns: Errorcode of getter

◆ GetStickyFaults()

ErrorCode ctre::phoenix::sensors::Pigeon2::GetStickyFaults ( Pigeon2_StickyFaults & toFill )

Gets the sticky fault status.

Parameters

toFill Container for sticky fault statuses.

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

◆ ZeroGyroBiasNow()

ErrorCode ctre::phoenix::sensors::Pigeon2::ZeroGyroBiasNow ( int timeoutMs = 0 )

Performs an offset calibration on gyro bias.

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: ErrorCode Status of the config response

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

ctre/phoenix/sensors/Pigeon2.h

Public Member Functions

Additional Inherited Members

Detailed Description

Constructor & Destructor Documentation

◆ Pigeon2()

Member Function Documentation

◆ ConfigAllSettings()

◆ ConfigDisableNoMotionCalibration()

◆ ConfigDisableTemperatureCompensation()

◆ ConfigEnableCompass()

◆ ConfigMountPose() [1/2]

◆ ConfigMountPose() [2/2]

◆ ConfigMountPosePitch()

◆ ConfigMountPoseRoll()

◆ ConfigMountPoseYaw()

◆ ConfigXAxisGyroError()

◆ ConfigYAxisGyroError()

◆ ConfigZAxisGyroError()

◆ GetAllConfigs()

◆ GetFaults()

◆ GetGravityVector()

◆ GetStickyFaults()

◆ ZeroGyroBiasNow()