ctre::phoenix::sensors::Pigeon2_Faults Struct Reference

Sticky faults available to Pigeon. More...

#include <ctre/phoenix/sensors/Pigeon2_Faults.h>

Public Member Functions
bool	HasAnyFault () const
uint64_t	ToBitfield () const
void	Update (uint64_t bits)
	Updates current fault list with specified bit field of faults. More...
	Pigeon2_Faults (uint64_t bits)
	Creates fault list with specified bit field of faults. More...
	Pigeon2_Faults ()

Public Attributes
bool	HardwareFault
	Device detects hardware failure. More...
bool	APIError
	API error detected. More...
bool	UnderVoltage
	Device is under 6.5V. More...
bool	ResetDuringEn
	Device was powered-on or reset while robot is enabled. More...
bool	SaturatedRotVelocity
	The device rotated at a rate that exceeded its maximum. More...
bool	SaturatedAccel
	The device saw an acceleration that exceeded its maximum. More...
bool	SaturatedMag
	The device saw a magnetic field that exceeded its maximum. More...
bool	BootIntoMotion
	The Pigeon saw motion as soon as it booted, and didn't attempt to self-test its features. More...
bool	MagnetometerFault
	The magnetometer failed its self-test. More...
bool	GyroFault
	The gyro failed its self-test. More...
bool	AccelFault
	The Accelerometer failed its self-test. More...

Detailed Description

Sticky faults available to Pigeon.

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_Faults() [1/2]

ctre::phoenix::sensors::Pigeon2_Faults::Pigeon2_Faults ( uint64_t  bits )

inline

Creates fault list with specified bit field of faults.

Parameters

bits	bit field of faults to update with

Pigeon2_Faults() [2/2]

ctre::phoenix::sensors::Pigeon2_Faults::Pigeon2_Faults ( )

inline

Member Function Documentation

HasAnyFault()

bool ctre::phoenix::sensors::Pigeon2_Faults::HasAnyFault ( ) const

inline

Returns

true if any faults are tripped

ToBitfield()

uint64_t ctre::phoenix::sensors::Pigeon2_Faults::ToBitfield ( ) const

inline

Returns

Current fault list as a bit field

Update()

void ctre::phoenix::sensors::Pigeon2_Faults::Update ( uint64_t  bits )

inline

Updates current fault list with specified bit field of faults.

Parameters

bits	bit field of faults to update with

Member Data Documentation

AccelFault

bool ctre::phoenix::sensors::Pigeon2_Faults::AccelFault

The Accelerometer failed its self-test.

This is likely due to hardware damage, oftentimes from exposing the Pigeon to a very large impact.

APIError

bool ctre::phoenix::sensors::Pigeon2_Faults::APIError

API error detected.

Make sure API and firmware versions are compatible.

BootIntoMotion

bool ctre::phoenix::sensors::Pigeon2_Faults::BootIntoMotion

The Pigeon saw motion as soon as it booted, and didn't attempt to self-test its features.

This isn't an issue, but to prevent this don't turn the robot on while moving it.

GyroFault

bool ctre::phoenix::sensors::Pigeon2_Faults::GyroFault

The gyro failed its self-test.

This is likely due to hardware damage.

HardwareFault

bool ctre::phoenix::sensors::Pigeon2_Faults::HardwareFault

Device detects hardware failure.

MagnetometerFault

bool ctre::phoenix::sensors::Pigeon2_Faults::MagnetometerFault

The magnetometer failed its self-test.

This is likely due to hardware damage, oftentimes from exposing the Pigeon to a very large magnetic field.

ResetDuringEn

bool ctre::phoenix::sensors::Pigeon2_Faults::ResetDuringEn

Device was powered-on or reset while robot is enabled.

Check your breakers and wiring.

SaturatedAccel

bool ctre::phoenix::sensors::Pigeon2_Faults::SaturatedAccel

The device saw an acceleration that exceeded its maximum.

Increase the range or avoid high-g events.

SaturatedMag

bool ctre::phoenix::sensors::Pigeon2_Faults::SaturatedMag

The device saw a magnetic field that exceeded its maximum.

Keep the device far from strong magnetic fields.

SaturatedRotVelocity

bool ctre::phoenix::sensors::Pigeon2_Faults::SaturatedRotVelocity

The device rotated at a rate that exceeded its maximum.

Increase the range or slow the rate of rotation.

UnderVoltage

bool ctre::phoenix::sensors::Pigeon2_Faults::UnderVoltage

Device is under 6.5V.

---

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

• ctre/phoenix/sensors/Pigeon2_Faults.h