Package com.ctre.phoenix.sensors

Class BasePigeon

java.lang.Object
com.ctre.phoenix.sensors.BasePigeon
Direct Known Subclasses:
Pigeon2, PigeonIMU
public class BasePigeon
extends Object
Pigeon IMU Class. Class supports communicating over CANbus and over ribbon-cable (CAN Talon SRX).

  • Constructor Details

    • BasePigeon

      public BasePigeon​(int deviceNumber, String version, String canbus)
      Create a Pigeon object that communicates with Pigeon on CAN Bus.
      Parameters:
      deviceNumber - CAN Device Id of Pigeon [0,62]
      version - Version of the PigeonIMU
      canbus - Name of the CANbus; can be a SocketCAN interface (on Linux), or a CANivore device name or serial number

    • BasePigeon

      public BasePigeon​(int deviceNumber, String version)
      Create a Pigeon object that communicates with Pigeon on CAN Bus.
      Parameters:
      deviceNumber - CAN Device Id of Pigeon [0,62]
      version - Version of the PigeonIMU

    • BasePigeon

      protected BasePigeon​(TalonSRX talonSrx)

  • Method Details

    • DestroyObject

      public ErrorCode DestroyObject()
      Destructor for Pigeon
      Returns:
      Error Code generated by function. 0 indicates no error.

    • getSimCollection

      public BasePigeonSimCollection getSimCollection()
      Returns:
      object that can set simulation inputs.

    • setYaw

      public ErrorCode setYaw​(double angleDeg, int timeoutMs)
      Sets the Yaw register to the specified value.
      Parameters:
      angleDeg - New yaw in degrees [+/- 368,640 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.

    • setYaw

      public ErrorCode setYaw​(double angleDeg)
      Sets the Yaw register to the specified value.
      Parameters:
      angleDeg - New yaw in degrees [+/- 368,640 degrees]
      Returns:
      Error Code generated by function. 0 indicates no error.

    • addYaw

      public ErrorCode addYaw​(double angleDeg, int timeoutMs)
      Atomically add to the Yaw register.
      Parameters:
      angleDeg - Degrees to add to the Yaw 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.

    • addYaw

      public ErrorCode addYaw​(double angleDeg)
      Atomically add to the Yaw register.
      Parameters:
      angleDeg - Degrees to add to the Yaw register.
      Returns:
      Error Code generated by function. 0 indicates no error.

    • setYawToCompass

      public ErrorCode setYawToCompass​(int timeoutMs)
      Sets the Yaw 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.

    • setYawToCompass

      public ErrorCode setYawToCompass()
      Sets the Yaw register to match the current compass value.
      Returns:
      Error Code generated by function. 0 indicates no error.

    • setAccumZAngle

      public ErrorCode setAccumZAngle​(double angleDeg, int timeoutMs)
      Sets the AccumZAngle.
      Parameters:
      angleDeg - Degrees to set AccumZAngle 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.

    • setAccumZAngle

      public ErrorCode setAccumZAngle​(double angleDeg)
      Sets the AccumZAngle.
      Parameters:
      angleDeg - Degrees to set AccumZAngle to.
      Returns:
      Error Code generated by function. 0 indicates no error.

    • getLastError

      public ErrorCode getLastError()
      Call GetLastError() generated by this object. Not all functions return an error code but can potentially report errors. This function can be used to retrieve those error codes.
      Returns:
      The last ErrorCode generated.

    • get6dQuaternion

      public ErrorCode get6dQuaternion​(double[] wxyz)
      Get 6d Quaternion data.
      Parameters:
      wxyz - Array to fill with quaternion data w[0], x[1], y[2], z[3]
      Returns:
      The last ErrorCode generated.

    • getYawPitchRoll

      public ErrorCode getYawPitchRoll​(double[] ypr_deg)
      Get Yaw, Pitch, and Roll data.
      Parameters:
      ypr_deg - Array to fill with yaw[0], pitch[1], and roll[2] data. Yaw is within [-368,640, +368,640] degrees. Pitch is within [-90,+90] degrees. Roll is within [-90,+90] degrees.
      Returns:
      The last ErrorCode generated.

    • getYaw

      public double getYaw()
      Get the yaw from the Pigeon
      Returns:
      Yaw

    • getPitch

      public double getPitch()
      Get the pitch from the Pigeon
      Returns:
      Pitch

    • getRoll

      public double getRoll()
      Get the roll from the Pigeon
      Returns:
      Roll

    • getAccumGyro

      public ErrorCode getAccumGyro​(double[] xyz_deg)
      Get AccumGyro data. AccumGyro is the integrated gyro value on each axis.
      Parameters:
      xyz_deg - Array to fill with x[0], y[1], and z[2] AccumGyro data
      Returns:
      The last ErrorCode generated.

    • getAbsoluteCompassHeading

      public double getAbsoluteCompassHeading()
      Get the absolute compass heading.
      Returns:
      compass heading [0,360) degrees.

    • getCompassHeading

      public double getCompassHeading()
      Get the continuous compass heading.
      Returns:
      continuous compass heading [-23040, 23040) degrees. Use SetCompassHeading to modify the wrap-around portion.

    • getCompassFieldStrength

      public double getCompassFieldStrength()
      Gets the compass' measured magnetic field strength.
      Returns:
      field strength in Microteslas (uT).

    • getTemp

      public double getTemp()
      Gets the temperature of the pigeon.
      Returns:
      Temperature in ('C)

    • getUpTime

      public int getUpTime()
      Gets the current Pigeon uptime.
      Returns:
      How long has Pigeon been running in whole seconds. Value caps at 255.

    • getRawMagnetometer

      public ErrorCode getRawMagnetometer​(short[] rm_xyz)
      Get Raw Magnetometer data.
      Parameters:
      rm_xyz - Array to fill with x[0], y[1], and z[2] data Number is equal to 0.6 microTeslas per unit.
      Returns:
      The last ErrorCode generated.

    • getBiasedMagnetometer

      public ErrorCode getBiasedMagnetometer​(short[] bm_xyz)
      Get Biased Magnetometer data.
      Parameters:
      bm_xyz - Array to fill with x[0], y[1], and z[2] data Number is equal to 0.6 microTeslas per unit.
      Returns:
      The last ErrorCode generated.

    • getBiasedAccelerometer

      public ErrorCode getBiasedAccelerometer​(short[] ba_xyz)
      Get Biased Accelerometer data.
      Parameters:
      ba_xyz - Array to fill with x[0], y[1], and z[2] data. These are in fixed point notation Q2.14. eg. 16384 = 1G
      Returns:
      The last ErrorCode generated.

    • getRawGyro

      public ErrorCode getRawGyro​(double[] xyz_dps)
      Get Raw Gyro data.
      Parameters:
      xyz_dps - Array to fill with x[0], y[1], and z[2] data in degrees per second.
      Returns:
      The last ErrorCode generated.

    • getResetCount

      public int getResetCount()
      Returns:
      number of times Pigeon Reset

    • getResetFlags

      public int getResetFlags()
      Returns:
      Reset flags for Pigeon

    • getFirmwareVersion

      public int 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.

    • hasResetOccurred

      public boolean hasResetOccurred()
      Returns:
      true iff a reset has occurred since last call.

    • configSetCustomParam

      public ErrorCode configSetCustomParam​(int newValue, int paramIndex, int timeoutMs)
      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.

    • configSetCustomParam

      public ErrorCode configSetCustomParam​(int newValue, int paramIndex)
      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]
      Returns:
      Error Code generated by function. 0 indicates no error.

    • configGetCustomParam

      public int configGetCustomParam​(int paramIndex, int timoutMs)
      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]
      timoutMs - 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.

    • configGetCustomParam

      public int configGetCustomParam​(int paramIndex)
      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]
      Returns:
      Value of the custom param.

    • configSetParameter

      public ErrorCode configSetParameter​(ParamEnum param, double value, int subValue, int ordinal, int timeoutMs)
      Sets a parameter. Generally this is not used. This can be utilized in - Using new features without updating API installation. - Errata workarounds to circumvent API implementation. - Allows for rapid testing / unit testing of firmware.
      Parameters:
      param - Parameter enumeration.
      value - Value of parameter.
      subValue - Subvalue for parameter. Maximum value of 255.
      ordinal - Ordinal of parameter.
      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.

    • configSetParameter

      public ErrorCode configSetParameter​(ParamEnum param, double value, int subValue, int ordinal)
      Sets a parameter. Generally this is not used. This can be utilized in - Using new features without updating API installation. - Errata workarounds to circumvent API implementation. - Allows for rapid testing / unit testing of firmware.
      Parameters:
      param - Parameter enumeration.
      value - Value of parameter.
      subValue - Subvalue for parameter. Maximum value of 255.
      ordinal - Ordinal of parameter.
      Returns:
      Error Code generated by function. 0 indicates no error.

    • configSetParameter

      public ErrorCode configSetParameter​(int param, double value, int subValue, int ordinal, int timeoutMs)
      Sets a parameter. Generally this is not used. This can be utilized in - Using new features without updating API installation. - Errata workarounds to circumvent API implementation. - Allows for rapid testing / unit testing of firmware.
      Parameters:
      param - Parameter enumeration.
      value - Value of parameter.
      subValue - Subvalue for parameter. Maximum value of 255.
      ordinal - Ordinal of parameter.
      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.

    • configSetParameter

      public ErrorCode configSetParameter​(int param, double value, int subValue, int ordinal)
      Sets a parameter. Generally this is not used. This can be utilized in - Using new features without updating API installation. - Errata workarounds to circumvent API implementation. - Allows for rapid testing / unit testing of firmware.
      Parameters:
      param - Parameter enumeration.
      value - Value of parameter.
      subValue - Subvalue for parameter. Maximum value of 255.
      ordinal - Ordinal of parameter.
      Returns:
      Error Code generated by function. 0 indicates no error.

    • configGetParameter

      public double configGetParameter​(ParamEnum param, int ordinal, int timeoutMs)
      Gets a parameter. Generally this is not used. This can be utilized in - Using new features without updating API installation. - Errata workarounds to circumvent API implementation. - Allows for rapid testing / unit testing of firmware.
      Parameters:
      param - Parameter enumeration.
      ordinal - Ordinal of parameter.
      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 parameter.

    • configGetParameter

      public double configGetParameter​(ParamEnum param, int ordinal)
      Gets a parameter. Generally this is not used. This can be utilized in - Using new features without updating API installation. - Errata workarounds to circumvent API implementation. - Allows for rapid testing / unit testing of firmware.
      Parameters:
      param - Parameter enumeration.
      ordinal - Ordinal of parameter.
      Returns:
      Value of parameter.

    • configGetParameter

      public double configGetParameter​(int param, int ordinal, int timeoutMs)
      Gets a parameter.
      Parameters:
      param - Parameter enumeration.
      ordinal - Ordinal of parameter.
      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 parameter.

    • configGetParameter

      public double configGetParameter​(int param, int ordinal)
      Gets a parameter.
      Parameters:
      param - Parameter enumeration.
      ordinal - Ordinal of parameter.
      Returns:
      Value of parameter.

    • setStatusFramePeriod

      public ErrorCode setStatusFramePeriod​(PigeonIMU_StatusFrame statusFrame, int periodMs, int timeoutMs)
      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.

    • setStatusFramePeriod

      public ErrorCode setStatusFramePeriod​(PigeonIMU_StatusFrame statusFrame, int periodMs)
      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.
      Returns:
      Error Code generated by function. 0 indicates no error.

    • setStatusFramePeriod

      public ErrorCode setStatusFramePeriod​(int statusFrame, int periodMs, int timeoutMs)
      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.

    • setStatusFramePeriod

      public ErrorCode setStatusFramePeriod​(int statusFrame, int periodMs)
      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.
      Returns:
      Error Code generated by function. 0 indicates no error.

    • getStatusFramePeriod

      public int getStatusFramePeriod​(PigeonIMU_StatusFrame frame, int timeoutMs)
      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.

    • getStatusFramePeriod

      public int getStatusFramePeriod​(PigeonIMU_StatusFrame frame)
      Gets the period of the given status frame.
      Parameters:
      frame - Frame to get the period of.
      Returns:
      Period of the given status frame.

    • setControlFramePeriod

      public ErrorCode 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.

    • setControlFramePeriod

      public ErrorCode setControlFramePeriod​(int 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.

    • clearStickyFaults

      public ErrorCode clearStickyFaults​(int timeoutMs)
      Clears the Sticky Faults
      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.

    • clearStickyFaults

      public ErrorCode clearStickyFaults()
      Clears the Sticky Faults
      Returns:
      Error Code generated by function. 0 indicates no error.

    • getDeviceID

      public int getDeviceID()
      Returns:
      The Device Number

    • configAllSettings

      public ErrorCode configAllSettings​(PigeonIMUConfiguration allConfigs, int timeoutMs)
      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.

    • configAllSettings

      public ErrorCode configAllSettings​(PigeonIMUConfiguration allConfigs)
      Configures all persistent settings (overloaded so timeoutMs is 50 ms).
      Parameters:
      allConfigs - Object with all of the persistant settings
      Returns:
      Error Code generated by function. 0 indicates no error.

    • getAllConfigs

      public void getAllConfigs​(PigeonIMUConfiguration allConfigs, int timeoutMs)
      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.

    • getAllConfigs

      public void getAllConfigs​(PigeonIMUConfiguration allConfigs)
      Gets all persistant settings (overloaded so timeoutMs is 50 ms).
      Parameters:
      allConfigs - Object with all of the persistant settings

    • configFactoryDefault

      public ErrorCode configFactoryDefault​(int timeoutMs)
      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.

    • configFactoryDefault

      public ErrorCode configFactoryDefault()
      Configures all persistent settings to defaults (overloaded so timeoutMs is 50 ms).
      Returns:
      Error Code generated by function. 0 indicates no error.

    • getHandle

      public long getHandle()