Package com.ctre.phoenix.sensors

Class Pigeon2_StickyFaults

java.lang.Object

com.ctre.phoenix.sensors.Pigeon2_StickyFaults

public class Pigeon2_StickyFaults
extends Object

Faults available to Pigeon (Currently has none)

Field Summary

Fields

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

Constructor Summary

Constructors

Constructor	Description
Pigeon2_StickyFaults()
Pigeon2_StickyFaults(int bits)

Method Summary

Modifier and Type	Method	Description
boolean	hasAnyFault()
int	toBitfield()
void	update(int bits)	Updates current fault list with specified bit field of faults

Methods inherited from class java.lang.Object

clone, equals, finalize, getClass, hashCode, notify, notifyAll, toString, wait, wait, wait

Field Details

HardwareFault

public boolean HardwareFault

Device detects hardware failure

APIError

public boolean APIError

API error detected. Make sure API and firmware versions are compatible.

UnderVoltage

public boolean UnderVoltage

Device is under 6.5V

ResetDuringEn

public boolean ResetDuringEn

Device was powered-on or reset while robot is enabled. Check your breakers and wiring.

SaturatedRotVelocity

public boolean SaturatedRotVelocity

The device rotated at a rate that exceeded its maximum. Increase the range or slow the rate of rotation.

SaturatedAccel

public boolean SaturatedAccel

The device saw an acceleration that exceeded its maximum. Increase the range or avoid high-g events.

SaturatedMag

public boolean SaturatedMag

The device saw a magnetic field that exceeded its maximum. Keep the device far from strong magnetic fields.

BootIntoMotion

public boolean 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.

MagnetometerFault

public boolean 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.

GyroFault

public boolean GyroFault

The gyro failed its self-test. This is likely due to hardware damage.

AccelFault

public boolean AccelFault

The Accelerometer failed its self-test. This is likely due to hardware damage, oftentimes from exposing the Pigeon to a very large impact.

Constructor Details

Pigeon2_StickyFaults

public Pigeon2_StickyFaults(int bits)

Pigeon2_StickyFaults

public Pigeon2_StickyFaults()

Method Details

hasAnyFault

public boolean hasAnyFault()

Returns:

true if any faults are tripped

toBitfield

public int toBitfield()

Returns:

Current fault list as a bit field

update

public void update(int bits)

Updates current fault list with specified bit field of faults

Parameters:

bits - bit field of faults to update with