Pigeon IMU Class. More...

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

Inheritance diagram for ctre::phoenix::sensors::PigeonIMU:

Classes
struct	FusionStatus
	Data object for holding fusion information. More...

struct	GeneralStatus
	Data object for status on current calibration and general status. More...

Public Types
enum	CalibrationMode { BootTareGyroAccel = 0 , Temperature = 1 , Magnetometer12Pt = 2 , Magnetometer360 = 3 , Accelerometer = 5 }
	Various calibration modes supported by Pigeon. More...

enum	PigeonState { NoComm , Initializing , Ready , UserCalibration }
	Overall state of the Pigeon. More...

Public Member Functions
	PigeonIMU (int deviceNumber)
	Create a Pigeon object that communicates with Pigeon on CAN Bus. More...

	PigeonIMU (ctre::phoenix::motorcontrol::can::TalonSRX *talonSrx)
	Create a Pigeon object that communciates with Pigeon through the Gadgeteer ribbon cable connected to a Talon on CAN Bus. More...

	PigeonIMU (ctre::phoenix::motorcontrol::can::TalonSRX &talonSrx)
	Create a Pigeon object that communciates with Pigeon through the Gadgeteer ribbon cable connected to a Talon on CAN Bus. More...

int	SetFusedHeading (double angleDeg, int timeoutMs=0)
	Sets the Fused Heading to the specified value. More...

int	AddFusedHeading (double angleDeg, int timeoutMs=0)
	Atomically add to the Fused Heading register. More...

int	SetFusedHeadingToCompass (int timeoutMs=0)
	Sets the Fused Heading register to match the current compass value. More...

int	SetTemperatureCompensationDisable (bool bTempCompDisable, int timeoutMs=0)
	Disable/Enable Temp compensation. More...

int	SetCompassDeclination (double angleDegOffset, int timeoutMs=0)
	Set the declination for compass. More...

int	SetCompassAngle (double angleDeg, int timeoutMs=0)
	Sets the compass angle. More...

int	EnterCalibrationMode (CalibrationMode calMode, int timeoutMs=0)
	Enters the Calbration mode. More...

int	GetGeneralStatus (PigeonIMU::GeneralStatus &statusToFill)
	Get the status of the current (or previousley complete) calibration. More...

PigeonState	GetState ()
	Gets the current Pigeon state. More...

int	GetAccelerometerAngles (double tiltAngles[3])
	Get Accelerometer tilt angles. More...

double	GetFusedHeading (FusionStatus &status)
	Get the current Fusion Status (including fused heading) More...

double	GetFusedHeading () const
	Gets the Fused Heading. More...

uint32_t	GetResetCount ()

uint32_t	GetResetFlags ()

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	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	GetFaults (PigeonIMU_Faults &toFill)
	Gets the fault status. More...

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

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

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

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

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

Static Public Member Functions
static std::string	ToString (PigeonIMU::PigeonState state)
	Gets the string representation of a PigeonState. More...

static std::string	ToString (CalibrationMode cm)
	Gets the string representation of a CalibrationMode. More...

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

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

Detailed Description

Pigeon IMU Class.

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

Member Enumeration Documentation

◆ CalibrationMode

enum ctre::phoenix::sensors::PigeonIMU::CalibrationMode

Various calibration modes supported by Pigeon.

Note that you can instead use Phoenix Tuner to accomplish certain calibrations.

Enumerator
BootTareGyroAccel	Boot-Calibrate the pigeon.
Temperature	Temperature-Calibrate the pigeon.
Magnetometer12Pt	Magnetometer-Calibrate the pigeon using the 12pt process.
Magnetometer360	Magnetometer-Calibrate the pigeon using 360 turns.
Accelerometer	Calibrate the pigeon accelerometer.

◆ PigeonState

enum ctre::phoenix::sensors::PigeonIMU::PigeonState

Overall state of the Pigeon.

Enumerator
NoComm	No communications with Pigeon.
Initializing	Pigeon is initializing.
Ready	Pigeon is ready.
UserCalibration	Pigeon is calibrating due to user.

Constructor & Destructor Documentation

◆ PigeonIMU() [1/3]

ctre::phoenix::sensors::PigeonIMU::PigeonIMU ( int deviceNumber )

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

Parameters

deviceNumber CAN Device Id of Pigeon [0,62]

◆ PigeonIMU() [2/3]

ctre::phoenix::sensors::PigeonIMU::PigeonIMU ( ctre::phoenix::motorcontrol::can::TalonSRX * talonSrx )

Create a Pigeon object that communciates with Pigeon through the Gadgeteer ribbon cable connected to a Talon on CAN Bus.

[[deprecated("Pass in a TalonSRX reference instead.")]]

Parameters

talonSrx Object for the TalonSRX connected via ribbon cable.

◆ PigeonIMU() [3/3]

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

Create a Pigeon object that communciates with Pigeon through the Gadgeteer ribbon cable connected to a Talon on CAN Bus.

Parameters

talonSrx Object for the TalonSRX connected via ribbon cable.

Member Function Documentation

◆ AddFusedHeading()

int ctre::phoenix::sensors::PigeonIMU::AddFusedHeading	(	double	angleDeg,
		int	timeoutMs = `0`
	)

Atomically add to the Fused Heading register.

Parameters

angleDeg	Degrees to add to the Fused Heading 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::PigeonIMU::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::PigeonIMU::ConfigAllSettings	(	const PigeonIMUConfiguration &	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::PigeonIMU::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 from ctre::phoenix::sensors::BasePigeon.

◆ ConfigGetCustomParam()

int ctre::phoenix::sensors::PigeonIMU::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.

◆ ConfigSetCustomParam()

ErrorCode ctre::phoenix::sensors::PigeonIMU::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.

◆ EnterCalibrationMode()

int ctre::phoenix::sensors::PigeonIMU::EnterCalibrationMode	(	CalibrationMode	calMode,
		int	timeoutMs = `0`
	)

Enters the Calbration mode.

See the Pigeon IMU documentation for More information on Calibration.

Note that you can instead use Phoenix Tuner to accomplish this. Note you should NOT be calling this during normal robot operation.

Parameters

calMode	Calibration to execute
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.

◆ GetAccelerometerAngles()

int ctre::phoenix::sensors::PigeonIMU::GetAccelerometerAngles ( double tiltAngles[3] )

Get Accelerometer tilt angles.

Parameters

tiltAngles Array to fill with x[0], y[1], and z[2] angles in degrees.

Returns: The last ErrorCode generated.

◆ GetAllConfigs()

virtual void ctre::phoenix::sensors::PigeonIMU::GetAllConfigs	(	PigeonIMUConfiguration &	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.

◆ GetFaults()

ErrorCode ctre::phoenix::sensors::PigeonIMU::GetFaults ( PigeonIMU_Faults & toFill )

Gets the fault status.

Parameters

toFill Container for fault statuses.

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

◆ GetFirmwareVersion()

int ctre::phoenix::sensors::PigeonIMU::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.

◆ GetFusedHeading() [1/2]

double ctre::phoenix::sensors::PigeonIMU::GetFusedHeading ( ) const

Gets the Fused Heading.

Returns: The fused heading in degrees.

◆ GetFusedHeading() [2/2]

double ctre::phoenix::sensors::PigeonIMU::GetFusedHeading ( FusionStatus & status )

Get the current Fusion Status (including fused heading)

Parameters

status object reference to fill with fusion status flags. Caller may pass null if flags are not needed.

Returns: The fused heading in degrees.

◆ GetGeneralStatus()

int ctre::phoenix::sensors::PigeonIMU::GetGeneralStatus ( PigeonIMU::GeneralStatus & statusToFill )

Get the status of the current (or previousley complete) calibration.

Parameters

[out] statusToFill Container for the status information.

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

◆ GetResetCount()

uint32_t ctre::phoenix::sensors::PigeonIMU::GetResetCount ( )

Returns: number of times Pigeon Reset

◆ GetResetFlags()

uint32_t ctre::phoenix::sensors::PigeonIMU::GetResetFlags ( )

Returns: Reset flags for Pigeon

◆ GetState()

PigeonState ctre::phoenix::sensors::PigeonIMU::GetState ( )

Gets the current Pigeon state.

Returns: PigeonState enum

◆ GetStatusFramePeriod()

int ctre::phoenix::sensors::PigeonIMU::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.

◆ GetStickyFaults()

ErrorCode ctre::phoenix::sensors::PigeonIMU::GetStickyFaults ( PigeonIMU_StickyFaults & toFill )

Gets the sticky fault status.

Parameters

toFill Container for sticky fault statuses.

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

◆ SetCompassAngle()

int ctre::phoenix::sensors::PigeonIMU::SetCompassAngle	(	double	angleDeg,
		int	timeoutMs = `0`
	)

Sets the compass angle.

Although compass is absolute [0,360) degrees, the continuous compass register holds the wrap-arounds.

Parameters

angleDeg	Degrees to set continuous compass angle 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.

◆ SetCompassDeclination()

int ctre::phoenix::sensors::PigeonIMU::SetCompassDeclination	(	double	angleDegOffset,
		int	timeoutMs = `0`
	)

Set the declination for compass.

Declination is the difference between Earth Magnetic north, and the geographic "True North".

Parameters

angleDegOffset	Degrees to set Compass Declination 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::PigeonIMU::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.

◆ SetFusedHeading()

int ctre::phoenix::sensors::PigeonIMU::SetFusedHeading	(	double	angleDeg,
		int	timeoutMs = `0`
	)

Sets the Fused Heading to the specified value.

Parameters

angleDeg	New fused-heading in degrees [+/- 23,040 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.

◆ SetFusedHeadingToCompass()

int ctre::phoenix::sensors::PigeonIMU::SetFusedHeadingToCompass ( int timeoutMs = 0 )

Sets the Fused Heading 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.

◆ SetStatusFramePeriod()

ErrorCode ctre::phoenix::sensors::PigeonIMU::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.

◆ SetTemperatureCompensationDisable()

int ctre::phoenix::sensors::PigeonIMU::SetTemperatureCompensationDisable	(	bool	bTempCompDisable,
		int	timeoutMs = `0`
	)

Disable/Enable Temp compensation.

Pigeon has this on/False at boot.

Parameters

bTempCompDisable	Set to "False" to 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: Error Code generated by function. 0 indicates no error.

◆ ToString() [1/2]

static std::string ctre::phoenix::sensors::PigeonIMU::ToString ( CalibrationMode cm )

static

Gets the string representation of a CalibrationMode.

Parameters

cm	CalibrationMode to get the string representation of

Returns: string representation of specified CalibrationMode

◆ ToString() [2/2]

static std::string ctre::phoenix::sensors::PigeonIMU::ToString ( PigeonIMU::PigeonState state )

static

Gets the string representation of a PigeonState.

Parameters

state PigeonState to get the string representation of

Returns: string representation of specified PigeonState

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

ctre/phoenix/sensors/PigeonIMU.h

Classes

Public Types

Public Member Functions

Static Public Member Functions

Additional Inherited Members

Detailed Description

Member Enumeration Documentation

◆ CalibrationMode

◆ PigeonState

Constructor & Destructor Documentation

◆ PigeonIMU() [1/3]

◆ PigeonIMU() [2/3]

◆ PigeonIMU() [3/3]

Member Function Documentation

◆ AddFusedHeading()

◆ ClearStickyFaults()

◆ ConfigAllSettings()

◆ ConfigFactoryDefault()

◆ ConfigGetCustomParam()

◆ ConfigSetCustomParam()

◆ EnterCalibrationMode()

◆ GetAccelerometerAngles()

◆ GetAllConfigs()

◆ GetFaults()

◆ GetFirmwareVersion()

◆ GetFusedHeading() [1/2]

◆ GetFusedHeading() [2/2]

◆ GetGeneralStatus()

◆ GetResetCount()

◆ GetResetFlags()

◆ GetState()

◆ GetStatusFramePeriod()

◆ GetStickyFaults()

◆ SetCompassAngle()

◆ SetCompassDeclination()

◆ SetControlFramePeriod()

◆ SetFusedHeading()

◆ SetFusedHeadingToCompass()

◆ SetStatusFramePeriod()

◆ SetTemperatureCompensationDisable()

◆ ToString() [1/2]

◆ ToString() [2/2]