Package com.ctre.phoenix.sensors

Class WPI_PigeonIMU

java.lang.Object

com.ctre.phoenix.sensors.BasePigeon

com.ctre.phoenix.sensors.PigeonIMU

com.ctre.phoenix.sensors.WPI_PigeonIMU

All Implemented Interfaces:

Sendable, AutoCloseable

public class WPI_PigeonIMU
extends PigeonIMU
implements Sendable, AutoCloseable

Nested Class Summary

Nested classes/interfaces inherited from class com.ctre.phoenix.sensors.PigeonIMU

PigeonIMU.CalibrationMode, PigeonIMU.FusionStatus, PigeonIMU.GeneralStatus, PigeonIMU.PigeonState

Constructor Summary

Constructors

Constructor	Description
WPI_PigeonIMU(int deviceNumber)	Constructor for Pigeon IMU.
WPI_PigeonIMU(TalonSRX talon)	Construtor for WPI_PigeonIMU.

Method Summary

Modifier and Type	Method	Description
void	close()
double	getAngle()	Returns the heading of the robot in degrees.
double	getRate()	Returns the rate of rotation of the Pigeon IMU.
Rotation2d	getRotation2d()	Returns the heading of the robot as a Rotation2d.
void	initSendable(SendableBuilder builder)
void	reset()	Resets the Pigeon IMU to a heading of zero.

Methods inherited from class com.ctre.phoenix.sensors.PigeonIMU

addFusedHeading, addFusedHeading, configAllSettings, configAllSettings, configFactoryDefault, configFactoryDefault, enterCalibrationMode, enterCalibrationMode, getAccelerometerAngles, getAllConfigs, getAllConfigs, getFaults, getFusedHeading, getFusedHeading, getGeneralStatus, getState, getStickyFaults, setCompassAngle, setCompassAngle, setCompassDeclination, setCompassDeclination, setFusedHeading, setFusedHeading, setFusedHeadingToCompass, setFusedHeadingToCompass, setTemperatureCompensationDisable, setTemperatureCompensationDisable

Methods inherited from class com.ctre.phoenix.sensors.BasePigeon

addYaw, addYaw, clearStickyFaults, clearStickyFaults, configGetCustomParam, configGetCustomParam, configGetParameter, configGetParameter, configGetParameter, configGetParameter, configSetCustomParam, configSetCustomParam, configSetParameter, configSetParameter, configSetParameter, configSetParameter, DestroyObject, get6dQuaternion, getAbsoluteCompassHeading, getAccumGyro, getBiasedAccelerometer, getBiasedMagnetometer, getCompassFieldStrength, getCompassHeading, getDeviceID, getFirmwareVersion, getHandle, getLastError, getPitch, getRawGyro, getRawMagnetometer, getResetCount, getResetFlags, getRoll, getSimCollection, getStatusFramePeriod, getStatusFramePeriod, getTemp, getUpTime, getYaw, getYawPitchRoll, hasResetOccurred, setAccumZAngle, setAccumZAngle, setControlFramePeriod, setControlFramePeriod, setStatusFramePeriod, setStatusFramePeriod, setStatusFramePeriod, setStatusFramePeriod, setYaw, setYaw, setYawToCompass, setYawToCompass

Methods inherited from class java.lang.Object

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

Constructor Details

WPI_PigeonIMU

public WPI_PigeonIMU(int deviceNumber)

Constructor for Pigeon IMU.

Parameters:

deviceNumber - device ID of Pigeon IMU

WPI_PigeonIMU

public WPI_PigeonIMU(TalonSRX talon)

Construtor for WPI_PigeonIMU.

Parameters:

talon - The Talon SRX ribbon-cabled to Pigeon.

Method Details

close

public void close()

Specified by:

close in interface AutoCloseable

reset

public void reset()

Resets the Pigeon IMU 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.

getAngle

public double getAngle()

Returns the heading of the robot in degrees.

The angle increases as the Pigeon IMU 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

public double getRate()

Returns the rate of rotation of the Pigeon IMU.

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

Returns:

The current rate in degrees per second

getRotation2d

public Rotation2d getRotation2d()

Returns the heading of the robot as a Rotation2d.

The angle increases as the Pigeon IMU 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 Rotation2d

initSendable

public void initSendable(SendableBuilder builder)

Specified by:

initSendable in interface Sendable