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

Inheritance diagram for ctre::phoenix::sensors::WPI_PigeonIMU:

Public Member Functions
	WPI_PigeonIMU (int deviceNumber)
	Construtor for WPI_PigeonIMU.

	WPI_PigeonIMU (ctre::phoenix::motorcontrol::can::TalonSRX &talon)
	Construtor for WPI_PigeonIMU.

	~WPI_PigeonIMU ()

	WPI_PigeonIMU ()=delete

	WPI_PigeonIMU (WPI_PigeonIMU const &)=delete

WPI_PigeonIMU &	operator= (WPI_PigeonIMU const &)=delete

void	InitSendable (wpi::SendableBuilder &builder) override

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

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

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

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

Public Member Functions inherited from ctre::phoenix::sensors::PigeonIMU
	PigeonIMU (int deviceNumber)
	Create a Pigeon object that communicates with Pigeon on CAN Bus.

	PigeonIMU (ctre::phoenix::motorcontrol::can::TalonSRX &talonSrx)
	Create a Pigeon object that communciates with Pigeon through the Gadgeteer ribbon cable connected to a Talon on CAN Bus.

int	SetFusedHeading (double angleDeg, int timeoutMs=0)
	Sets the Fused Heading to the specified value.

int	AddFusedHeading (double angleDeg, int timeoutMs=0)
	Atomically add to the Fused Heading register.

int	SetFusedHeadingToCompass (int timeoutMs=0)
	Sets the Fused Heading register to match the current compass value.

int	SetTemperatureCompensationDisable (bool bTempCompDisable, int timeoutMs=0)
	Disable/Enable Temp compensation.

int	SetCompassDeclination (double angleDegOffset, int timeoutMs=0)
	Set the declination for compass.

int	SetCompassAngle (double angleDeg, int timeoutMs=0)
	Sets the compass angle.

int	EnterCalibrationMode (CalibrationMode calMode, int timeoutMs=0)
	Enters the Calbration mode.

int	GetGeneralStatus (PigeonIMU::GeneralStatus &statusToFill)
	Get the status of the current (or previousley complete) calibration.

PigeonState	GetState ()
	Gets the current Pigeon state.

int	GetAccelerometerAngles (double tiltAngles[3])
	Get Accelerometer tilt angles.

double	GetFusedHeading (FusionStatus &status)
	Get the current Fusion Status (including fused heading)

double	GetFusedHeading () const
	Gets the Fused Heading.

uint32_t	GetResetCount ()

uint32_t	GetResetFlags ()

ErrorCode	ConfigSetCustomParam (int newValue, int paramIndex, int timeoutMs=0)
	Sets the value of a custom parameter.

int	ConfigGetCustomParam (int paramIndex, int timeoutMs=0)
	Gets the value of a custom parameter.

ErrorCode	SetStatusFramePeriod (PigeonIMU_StatusFrame statusFrame, uint8_t periodMs, int timeoutMs=0)
	Sets the period of the given status frame.

int	GetStatusFramePeriod (PigeonIMU_StatusFrame frame, int timeoutMs=0)
	Gets the period of the given status frame.

ErrorCode	SetControlFramePeriod (PigeonIMU_ControlFrame frame, int periodMs)
	Sets the period of the given control frame.

int	GetFirmwareVersion ()
	Gets the firmware version of the device.

ErrorCode	GetFaults (PigeonIMU_Faults &toFill)
	Gets the fault status.

ErrorCode	GetStickyFaults (PigeonIMU_StickyFaults &toFill)
	Gets the sticky fault status.

ErrorCode	ClearStickyFaults (int timeoutMs=0)
	Clears the Sticky Faults.

virtual ctre::phoenix::ErrorCode	ConfigAllSettings (const PigeonIMUConfiguration &allConfigs, int timeoutMs=50)
	Configures all persistent settings.

virtual void	GetAllConfigs (PigeonIMUConfiguration &allConfigs, int timeoutMs=50)
	Gets all persistant settings.

virtual ErrorCode	ConfigFactoryDefault (int timeoutMs=50)
	Configures all persistent settings to defaults.

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.

	~BasePigeon ()

int	SetYaw (double angleDeg, int timeoutMs=0)
	Sets the Yaw register to the specified value.

int	AddYaw (double angleDeg, int timeoutMs=0)
	Atomically add to the Yaw register.

int	SetYawToCompass (int timeoutMs=0)
	Sets the Yaw register to match the current compass value.

int	SetAccumZAngle (double angleDeg, int timeoutMs=0)
	Sets the AccumZAngle.

ErrorCode	GetLastError () const
	Call GetLastError() generated by this object.

ErrorCode	Get6dQuaternion (double wxyz[4]) const
	Get 6d Quaternion data.

ErrorCode	GetYawPitchRoll (double ypr[3]) const
	Get Yaw, Pitch, and Roll data.

double	GetYaw () const
	Get the yaw from the Pigeon.

double	GetPitch () const
	Get the pitch from the Pigeon.

double	GetRoll () const
	Get the roll from the Pigeon.

int	GetAccumGyro (double xyz_deg[3]) const
	Get AccumGyro data.

double	GetAbsoluteCompassHeading () const
	Get the absolute compass heading.

double	GetCompassHeading () const
	Get the continuous compass heading.

double	GetCompassFieldStrength () const
	Gets the compass' measured magnetic field strength.

double	GetTemp () const
	Gets the temperature of the pigeon.

uint32_t	GetUpTime () const
	Gets the current Pigeon uptime.

int	GetRawMagnetometer (int16_t rm_xyz[3]) const
	Get Raw Magnetometer data.

int	GetBiasedMagnetometer (int16_t bm_xyz[3]) const
	Get Biased Magnetometer data.

int	GetBiasedAccelerometer (int16_t ba_xyz[3]) const
	Get Biased Accelerometer data.

int	GetRawGyro (double xyz_dps[3]) const
	Get Raw Gyro data.

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.

int	ConfigGetCustomParam (int paramIndex, int timeoutMs=0)
	Gets the value of a custom parameter.

ErrorCode	ConfigSetParameter (ParamEnum param, double value, uint8_t subValue, int ordinal, int timeoutMs=0)
	Sets a parameter.

double	ConfigGetParameter (ctre::phoenix::ParamEnum param, int ordinal, int timeoutMs=0)
	Gets a parameter.

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.

ErrorCode	SetStatusFramePeriod (PigeonIMU_StatusFrame statusFrame, uint8_t periodMs, int timeoutMs=0)
	Sets the period of the given status frame.

int	GetStatusFramePeriod (PigeonIMU_StatusFrame frame, int timeoutMs=0)
	Gets the period of the given status frame.

ErrorCode	SetControlFramePeriod (PigeonIMU_ControlFrame frame, int periodMs)
	Sets the period of the given control frame.

int	GetFirmwareVersion ()
	Gets the firmware version of the device.

ErrorCode	ClearStickyFaults (int timeoutMs=0)
	Clears the Sticky Faults.

void *	GetLowLevelHandle () const

virtual ctre::phoenix::ErrorCode	ConfigAllSettings (const BasePigeonConfiguration &allConfigs, int timeoutMs=50)
	Configures all persistent settings.

virtual void	GetAllConfigs (BasePigeonConfiguration &allConfigs, int timeoutMs=50)
	Gets all persistant settings.

virtual BasePigeonSimCollection &	GetSimCollection ()

Public Member Functions inherited from ctre::phoenix::CANBusAddressable
	CANBusAddressable (int deviceNumber)
	Constructor for a CANBusAddressable device.

int	GetDeviceNumber ()

Additional Inherited Members
Public Types inherited from ctre::phoenix::sensors::PigeonIMU
enum	CalibrationMode { BootTareGyroAccel = 0 , Temperature = 1 , Magnetometer12Pt = 2 , Magnetometer360 = 3 , Accelerometer = 5 }
	Various calibration modes supported by Pigeon. More...

enum	PigeonState { NoComm , Initializing , Ready , UserCalibration }
	Overall state of the Pigeon. More...

Static Public Member Functions inherited from ctre::phoenix::sensors::PigeonIMU
static std::string	ToString (PigeonIMU::PigeonState state)
	Gets the string representation of a PigeonState.

static std::string	ToString (CalibrationMode cm)
	Gets the string representation of a CalibrationMode.

Static Public Member Functions inherited from ctre::phoenix::sensors::BasePigeon
static void	DestroyAllBasePigeons ()
	Destructs all pigeon objects.

Protected Member Functions inherited from ctre::phoenix::sensors::BasePigeon
	BasePigeon (ctre::phoenix::motorcontrol::can::TalonSRX &talonSrx)

Constructor & Destructor Documentation

◆ WPI_PigeonIMU() [1/4]

ctre::phoenix::sensors::WPI_PigeonIMU::WPI_PigeonIMU ( int deviceNumber )

Construtor for WPI_PigeonIMU.

Parameters

deviceNumber CAN Device ID of the Pigeon IMU.

◆ WPI_PigeonIMU() [2/4]

ctre::phoenix::sensors::WPI_PigeonIMU::WPI_PigeonIMU ( ctre::phoenix::motorcontrol::can::TalonSRX & talon )

Construtor for WPI_PigeonIMU.

Parameters

talon The Talon SRX ribbon-cabled to Pigeon.

◆ ~WPI_PigeonIMU()

ctre::phoenix::sensors::WPI_PigeonIMU::~WPI_PigeonIMU ( )

◆ WPI_PigeonIMU() [3/4]

ctre::phoenix::sensors::WPI_PigeonIMU::WPI_PigeonIMU ( )

delete

◆ WPI_PigeonIMU() [4/4]

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

delete

Member Function Documentation

◆ GetAngle()

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

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()

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

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()

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

Returns the heading of the robot as a frc#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 frc#Rotation2d

◆ InitSendable()

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

override

◆ operator=()

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

delete

◆ Reset()

void ctre::phoenix::sensors::WPI_PigeonIMU::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.

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

ctre/phoenix/sensors/WPI_PigeonIMU.h

Public Member Functions

Additional Inherited Members

Constructor & Destructor Documentation

◆ WPI_PigeonIMU() [1/4]

◆ WPI_PigeonIMU() [2/4]

◆ ~WPI_PigeonIMU()

◆ WPI_PigeonIMU() [3/4]

◆ WPI_PigeonIMU() [4/4]

Member Function Documentation

◆ GetAngle()

◆ GetRate()

◆ GetRotation2d()

◆ InitSendable()

◆ operator=()

◆ Reset()