Pigeon 2 Class. More...

#include <ctre/phoenix/sensors/WPI_Pigeon2.h>

Inheritance diagram for ctre::phoenix::sensors::WPI_Pigeon2:

Public Member Functions
	WPI_Pigeon2 (int deviceNumber, std::string const &canbus="")
	Construtor for WPI_Pigeon2. More...

	~WPI_Pigeon2 ()

	WPI_Pigeon2 ()=delete

	WPI_Pigeon2 (WPI_Pigeon2 const &)=delete

WPI_Pigeon2 &	operator= (WPI_Pigeon2 const &)=delete

void	InitSendable (wpi::SendableBuilder &builder) override

void	Reset ()
	Resets the Pigeon 2 to a heading of zero. More...

double	GetAngle () const
	Returns the heading of the robot in degrees. More...

double	GetRate () const
	Returns the rate of rotation of the Pigeon 2. More...

frc::Rotation2d	GetRotation2d () const
	Returns the heading of the robot as a frc::Rotation2d. More...

Public Member Functions inherited from ctre::phoenix::sensors::Pigeon2
	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.

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

◆ WPI_Pigeon2() [1/3]

ctre::phoenix::sensors::WPI_Pigeon2::WPI_Pigeon2	(	int	deviceNumber,
		std::string const &	canbus = `""`
	)

Construtor for WPI_Pigeon2.

Parameters

deviceNumber	CAN Device ID of the Pigeon 2.
canbus	Name of the CANbus; can be a CANivore device name or serial number. Pass in nothing or "rio" to use the roboRIO.

◆ ~WPI_Pigeon2()

ctre::phoenix::sensors::WPI_Pigeon2::~WPI_Pigeon2 ( )

◆ WPI_Pigeon2() [2/3]

ctre::phoenix::sensors::WPI_Pigeon2::WPI_Pigeon2 ( )

delete

◆ WPI_Pigeon2() [3/3]

ctre::phoenix::sensors::WPI_Pigeon2::WPI_Pigeon2 ( WPI_Pigeon2 const & )

delete

Member Function Documentation

◆ GetAngle()

double ctre::phoenix::sensors::WPI_Pigeon2::GetAngle ( ) const

Returns the heading of the robot in degrees.

The angle increases as the Pigeon 2 turns clockwise when looked at from the top. This follows the NED axis convention.

The angle is continuous; that is, it will continue from 360 to 361 degrees. This allows for algorithms that wouldn't want to see a discontinuity in the gyro output as it sweeps past from 360 to 0 on the second time around.

Returns: The current heading of the robot in degrees

◆ GetRate()

double ctre::phoenix::sensors::WPI_Pigeon2::GetRate ( ) const

Returns the rate of rotation of the Pigeon 2.

The rate is positive as the Pigeon 2 turns clockwise when looked at from the top.

Returns: The current rate in degrees per second

◆ GetRotation2d()

frc::Rotation2d ctre::phoenix::sensors::WPI_Pigeon2::GetRotation2d ( ) const

Returns the heading of the robot as a frc::Rotation2d.

The angle increases as the Pigeon 2 turns counterclockwise when looked at from the top. This follows the NWU axis convention.

The angle is continuous; that is, it will continue from 360 to 361 degrees. This allows for algorithms that wouldn't want to see a discontinuity in the gyro output as it sweeps past from 360 to 0 on the second time around.

Returns: The current heading of the robot as a frc::Rotation2d

◆ InitSendable()

void ctre::phoenix::sensors::WPI_Pigeon2::InitSendable ( wpi::SendableBuilder & builder )

override

◆ operator=()

WPI_Pigeon2 & ctre::phoenix::sensors::WPI_Pigeon2::operator= ( WPI_Pigeon2 const & )

delete

◆ Reset()

void ctre::phoenix::sensors::WPI_Pigeon2::Reset ( )

Resets the Pigeon 2 to a heading of zero.

This can be used if there is significant drift in the gyro, and it needs to be recalibrated after it has been running.

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

ctre/phoenix/sensors/WPI_Pigeon2.h

Public Member Functions

Additional Inherited Members

Detailed Description

Constructor & Destructor Documentation

◆ WPI_Pigeon2() [1/3]

◆ ~WPI_Pigeon2()

◆ WPI_Pigeon2() [2/3]

◆ WPI_Pigeon2() [3/3]

Member Function Documentation

◆ GetAngle()

◆ GetRate()

◆ GetRotation2d()

◆ InitSendable()

◆ operator=()

◆ Reset()