Class description for the Pigeon 2 IMU sensor that measures orientation. More...

#include <ctre/phoenix6/Pigeon2.hpp>

Inheritance diagram for ctre::phoenix6::hardware::Pigeon2:

Public Member Functions
	Pigeon2 (int deviceId, std::string canbus="")
	Constructs a new Pigeon 2 sensor object. More...

	~Pigeon2 ()

void	InitSendable (wpi::SendableBuilder &builder) override

void	Calibrate () final
	This function does nothing; it exists to satisfy the WPILib Gyro interface. More...

void	Reset () final

double	GetAngle () const override

double	GetRate () const override

frc::Rotation2d	GetRotation2d () const override

Public Member Functions inherited from ctre::phoenix6::hardware::core::CorePigeon2
	CorePigeon2 (int deviceId, std::string canbus="")
	Constructs a new Pigeon 2 sensor object. More...

	CorePigeon2 (CorePigeon2 const &)=delete

CorePigeon2 &	operator= (CorePigeon2 const &)=delete

bool	HasResetOccurred ()

std::function< bool()>	GetResetOccurredChecker () const

configs::Pigeon2Configurator &	GetConfigurator ()
	Gets the configurator for this Pigeon2. More...

configs::Pigeon2Configurator const &	GetConfigurator () const
	Gets the configurator for this Pigeon2. More...

sim::Pigeon2SimState &	GetSimState ()
	Get the simulation state for this device. More...

StatusSignal< int > &	GetVersionMajor ()
	App Major Version number. More...

StatusSignal< int > &	GetVersionMinor ()
	App Minor Version number. More...

StatusSignal< int > &	GetVersionBugfix ()
	App Bugfix Version number. More...

StatusSignal< int > &	GetVersionBuild ()
	App Build Version number. More...

StatusSignal< int > &	GetVersion ()
	Full Version. More...

StatusSignal< int > &	GetFaultField ()
	Integer representing all faults. More...

StatusSignal< int > &	GetStickyFaultField ()
	Integer representing all sticky faults. More...

StatusSignal< units::angle::degree_t > &	GetYaw ()
	Current reported yaw of the Pigeon2. More...

StatusSignal< units::angle::degree_t > &	GetPitch ()
	Current reported pitch of the Pigeon2. More...

StatusSignal< units::angle::degree_t > &	GetRoll ()
	Current reported roll of the Pigeon2. More...

StatusSignal< units::dimensionless::scalar_t > &	GetQuatW ()
	The W component of the reported Quaternion. More...

StatusSignal< units::dimensionless::scalar_t > &	GetQuatX ()
	The X component of the reported Quaternion. More...

StatusSignal< units::dimensionless::scalar_t > &	GetQuatY ()
	The Y component of the reported Quaternion. More...

StatusSignal< units::dimensionless::scalar_t > &	GetQuatZ ()
	The Z component of the reported Quaternion. More...

StatusSignal< units::dimensionless::scalar_t > &	GetGravityVectorX ()
	The X component of the gravity vector. More...

StatusSignal< units::dimensionless::scalar_t > &	GetGravityVectorY ()
	The Y component of the gravity vector. More...

StatusSignal< units::dimensionless::scalar_t > &	GetGravityVectorZ ()
	The Z component of the gravity vector. More...

StatusSignal< units::temperature::celsius_t > &	GetTemperature ()
	Temperature of the Pigeon 2. More...

StatusSignal< bool > &	GetNoMotionEnabled ()
	Whether the no-motion calibration feature is enabled. More...

StatusSignal< units::dimensionless::scalar_t > &	GetNoMotionCount ()
	The number of times a no-motion event occurred, wraps at 15. More...

StatusSignal< bool > &	GetTemperatureCompensationDisabled ()
	Whether the temperature-compensation feature is disabled. More...

StatusSignal< units::time::second_t > &	GetUpTime ()
	How long the Pigeon 2's been up in seconds, caps at 255 seconds. More...

StatusSignal< units::angle::degree_t > &	GetAccumGyroX ()
	The accumulated gyro about the X axis without any sensor fusing. More...

StatusSignal< units::angle::degree_t > &	GetAccumGyroY ()
	The accumulated gyro about the Y axis without any sensor fusing. More...

StatusSignal< units::angle::degree_t > &	GetAccumGyroZ ()
	The accumulated gyro about the Z axis without any sensor fusing. More...

StatusSignal< units::angular_velocity::degrees_per_second_t > &	GetAngularVelocityX ()
	The angular velocity (ω) of the Pigeon 2 about the X axis. More...

StatusSignal< units::angular_velocity::degrees_per_second_t > &	GetAngularVelocityY ()
	The angular velocity (ω) of the Pigeon 2 about the Y axis. More...

StatusSignal< units::angular_velocity::degrees_per_second_t > &	GetAngularVelocityZ ()
	The angular velocity (ω) of the Pigeon 2 about the Z axis. More...

StatusSignal< units::acceleration::standard_gravity_t > &	GetAccelerationX ()
	The acceleration measured by Pigeon2 in the X direction. More...

StatusSignal< units::acceleration::standard_gravity_t > &	GetAccelerationY ()
	The acceleration measured by Pigeon2 in the Y direction. More...

StatusSignal< units::acceleration::standard_gravity_t > &	GetAccelerationZ ()
	The acceleration measured by Pigeon2 in the Z direction. More...

StatusSignal< units::voltage::volt_t > &	GetSupplyVoltage ()
	Measured supply voltage to the Pigeon2. More...

StatusSignal< units::magnetic_field_strength::microtesla_t > &	GetMagneticFieldX ()
	The biased magnitude of the magnetic field measured by the Pigeon 2 in the X direction. More...

StatusSignal< units::magnetic_field_strength::microtesla_t > &	GetMagneticFieldY ()
	The biased magnitude of the magnetic field measured by the Pigeon 2 in the Y direction. More...

StatusSignal< units::magnetic_field_strength::microtesla_t > &	GetMagneticFieldZ ()
	The biased magnitude of the magnetic field measured by the Pigeon 2 in the Z direction. More...

StatusSignal< units::magnetic_field_strength::microtesla_t > &	GetRawMagneticFieldX ()
	The raw magnitude of the magnetic field measured by the Pigeon 2 in the X direction. More...

StatusSignal< units::magnetic_field_strength::microtesla_t > &	GetRawMagneticFieldY ()
	The raw magnitude of the magnetic field measured by the Pigeon 2 in the Y direction. More...

StatusSignal< units::magnetic_field_strength::microtesla_t > &	GetRawMagneticFieldZ ()
	The raw magnitude of the magnetic field measured by the Pigeon 2 in the Z direction. More...

StatusSignal< bool > &	GetIsProLicensed ()
	Whether the device is Phoenix Pro licensed. More...

StatusSignal< bool > &	GetFault_Hardware ()
	Hardware fault occurred. More...

StatusSignal< bool > &	GetStickyFault_Hardware ()
	Hardware fault occurred. More...

StatusSignal< bool > &	GetFault_Undervoltage ()
	Device supply voltage dropped to near brownout levels. More...

StatusSignal< bool > &	GetStickyFault_Undervoltage ()
	Device supply voltage dropped to near brownout levels. More...

StatusSignal< bool > &	GetFault_BootDuringEnable ()
	Device boot while detecting the enable signal. More...

StatusSignal< bool > &	GetStickyFault_BootDuringEnable ()
	Device boot while detecting the enable signal. More...

StatusSignal< bool > &	GetFault_UnlicensedFeatureInUse ()
	An unlicensed feature is in use, device may not behave as expected. More...

StatusSignal< bool > &	GetStickyFault_UnlicensedFeatureInUse ()
	An unlicensed feature is in use, device may not behave as expected. More...

StatusSignal< bool > &	GetFault_BootupAccelerometer ()
	Bootup checks failed: Accelerometer. More...

StatusSignal< bool > &	GetStickyFault_BootupAccelerometer ()
	Bootup checks failed: Accelerometer. More...

StatusSignal< bool > &	GetFault_BootupGyroscope ()
	Bootup checks failed: Gyroscope. More...

StatusSignal< bool > &	GetStickyFault_BootupGyroscope ()
	Bootup checks failed: Gyroscope. More...

StatusSignal< bool > &	GetFault_BootupMagnetometer ()
	Bootup checks failed: Magnetometer. More...

StatusSignal< bool > &	GetStickyFault_BootupMagnetometer ()
	Bootup checks failed: Magnetometer. More...

StatusSignal< bool > &	GetFault_BootIntoMotion ()
	Motion Detected during bootup. More...

StatusSignal< bool > &	GetStickyFault_BootIntoMotion ()
	Motion Detected during bootup. More...

StatusSignal< bool > &	GetFault_DataAcquiredLate ()
	Motion stack data acquisition was slower than expected. More...

StatusSignal< bool > &	GetStickyFault_DataAcquiredLate ()
	Motion stack data acquisition was slower than expected. More...

StatusSignal< bool > &	GetFault_LoopTimeSlow ()
	Motion stack loop time was slower than expected. More...

StatusSignal< bool > &	GetStickyFault_LoopTimeSlow ()
	Motion stack loop time was slower than expected. More...

StatusSignal< bool > &	GetFault_SaturatedMagnetometer ()
	Magnetometer values are saturated. More...

StatusSignal< bool > &	GetStickyFault_SaturatedMagnetometer ()
	Magnetometer values are saturated. More...

StatusSignal< bool > &	GetFault_SaturatedAccelometer ()
	Accelerometer values are saturated. More...

StatusSignal< bool > &	GetStickyFault_SaturatedAccelometer ()
	Accelerometer values are saturated. More...

StatusSignal< bool > &	GetFault_SaturatedGyroscope ()
	Gyroscope values are saturated. More...

StatusSignal< bool > &	GetStickyFault_SaturatedGyroscope ()
	Gyroscope values are saturated. More...

ctre::phoenix::StatusCode	SetControl (controls::ControlRequest &request)
	Control motor with generic control request object. More...

ctre::phoenix::StatusCode	SetControl (controls::ControlRequest &&request)
	Control motor with generic control request object. More...

ctre::phoenix::StatusCode	SetYaw (units::angle::degree_t newValue, units::time::second_t timeoutSeconds)
	The yaw to set the Pigeon2 to right now. More...

ctre::phoenix::StatusCode	SetYaw (units::angle::degree_t newValue)
	The yaw to set the Pigeon2 to right now. More...

ctre::phoenix::StatusCode	ClearStickyFaults (units::time::second_t timeoutSeconds)
	Clear the sticky faults in the device. More...

ctre::phoenix::StatusCode	ClearStickyFaults ()
	Clear the sticky faults in the device. More...

ctre::phoenix::StatusCode	ClearStickyFault_Hardware (units::time::second_t timeoutSeconds)
	Clear sticky fault: Hardware fault occurred. More...

ctre::phoenix::StatusCode	ClearStickyFault_Hardware ()
	Clear sticky fault: Hardware fault occurred. More...

ctre::phoenix::StatusCode	ClearStickyFault_Undervoltage (units::time::second_t timeoutSeconds)
	Clear sticky fault: Device supply voltage dropped to near brownout levels. More...

ctre::phoenix::StatusCode	ClearStickyFault_Undervoltage ()
	Clear sticky fault: Device supply voltage dropped to near brownout levels. More...

ctre::phoenix::StatusCode	ClearStickyFault_BootDuringEnable (units::time::second_t timeoutSeconds)
	Clear sticky fault: Device boot while detecting the enable signal. More...

ctre::phoenix::StatusCode	ClearStickyFault_BootDuringEnable ()
	Clear sticky fault: Device boot while detecting the enable signal. More...

ctre::phoenix::StatusCode	ClearStickyFault_BootupAccelerometer (units::time::second_t timeoutSeconds)
	Clear sticky fault: Bootup checks failed: Accelerometer. More...

ctre::phoenix::StatusCode	ClearStickyFault_BootupAccelerometer ()
	Clear sticky fault: Bootup checks failed: Accelerometer. More...

ctre::phoenix::StatusCode	ClearStickyFault_BootupGyroscope (units::time::second_t timeoutSeconds)
	Clear sticky fault: Bootup checks failed: Gyroscope. More...

ctre::phoenix::StatusCode	ClearStickyFault_BootupGyroscope ()
	Clear sticky fault: Bootup checks failed: Gyroscope. More...

ctre::phoenix::StatusCode	ClearStickyFault_BootupMagnetometer (units::time::second_t timeoutSeconds)
	Clear sticky fault: Bootup checks failed: Magnetometer. More...

ctre::phoenix::StatusCode	ClearStickyFault_BootupMagnetometer ()
	Clear sticky fault: Bootup checks failed: Magnetometer. More...

ctre::phoenix::StatusCode	ClearStickyFault_BootIntoMotion (units::time::second_t timeoutSeconds)
	Clear sticky fault: Motion Detected during bootup. More...

ctre::phoenix::StatusCode	ClearStickyFault_BootIntoMotion ()
	Clear sticky fault: Motion Detected during bootup. More...

ctre::phoenix::StatusCode	ClearStickyFault_DataAcquiredLate (units::time::second_t timeoutSeconds)
	Clear sticky fault: Motion stack data acquisition was slower than expected. More...

ctre::phoenix::StatusCode	ClearStickyFault_DataAcquiredLate ()
	Clear sticky fault: Motion stack data acquisition was slower than expected. More...

ctre::phoenix::StatusCode	ClearStickyFault_LoopTimeSlow (units::time::second_t timeoutSeconds)
	Clear sticky fault: Motion stack loop time was slower than expected. More...

ctre::phoenix::StatusCode	ClearStickyFault_LoopTimeSlow ()
	Clear sticky fault: Motion stack loop time was slower than expected. More...

ctre::phoenix::StatusCode	ClearStickyFault_SaturatedMagnetometer (units::time::second_t timeoutSeconds)
	Clear sticky fault: Magnetometer values are saturated. More...

ctre::phoenix::StatusCode	ClearStickyFault_SaturatedMagnetometer ()
	Clear sticky fault: Magnetometer values are saturated. More...

ctre::phoenix::StatusCode	ClearStickyFault_SaturatedAccelometer (units::time::second_t timeoutSeconds)
	Clear sticky fault: Accelerometer values are saturated. More...

ctre::phoenix::StatusCode	ClearStickyFault_SaturatedAccelometer ()
	Clear sticky fault: Accelerometer values are saturated. More...

ctre::phoenix::StatusCode	ClearStickyFault_SaturatedGyroscope (units::time::second_t timeoutSeconds)
	Clear sticky fault: Gyroscope values are saturated. More...

ctre::phoenix::StatusCode	ClearStickyFault_SaturatedGyroscope ()
	Clear sticky fault: Gyroscope values are saturated. More...

Public Member Functions inherited from ctre::phoenix6::hardware::ParentDevice
	ParentDevice (int deviceID, std::string model, std::string canbus)

int	GetDeviceID () const

const std::string &	GetNetwork () const

uint64_t	GetDeviceHash () const
	Gets a number unique for this device's hardware type and ID. More...

std::shared_ptr< const controls::ControlRequest >	GetAppliedControl () const
	Get the latest applied control. More...

std::shared_ptr< controls::ControlRequest >	GetAppliedControl ()
	Get the latest applied control. More...

StatusSignal< double > &	GetGenericSignal (uint32_t signal)
	This is a reserved routine for internal testing. More...

ctre::phoenix::StatusCode	OptimizeBusUtilization (units::time::second_t timeoutSeconds=50_ms)
	Optimizes the device's bus utilization by reducing the update frequencies of its status signals. More...

Additional Inherited Members
Static Public Member Functions inherited from ctre::phoenix6::hardware::ParentDevice
template<typename... Devices, typename = std::enable_if_t<is_all_device_v<Devices...>>>
static ctre::phoenix::StatusCode	OptimizeBusUtilizationForAll (Devices &... devices)
	Optimizes the bus utilization of the provided devices by reducing the update frequencies of their status signals. More...

static ctre::phoenix::StatusCode	OptimizeBusUtilizationForAll (const std::vector< ParentDevice * > &devices)
	Optimizes the bus utilization of the provided devices by reducing the update frequencies of their status signals. More...

template<size_t N>
static ctre::phoenix::StatusCode	OptimizeBusUtilizationForAll (const std::array< ParentDevice *, N > &devices)
	Optimizes the bus utilization of the provided devices by reducing the update frequencies of their status signals. More...

Static Public Attributes inherited from ctre::phoenix6::hardware::ParentDevice
static constexpr double	kDefaultControlRatePeriodsSec = 0.010

Protected Member Functions inherited from ctre::phoenix6::hardware::ParentDevice
virtual void	ReportIfTooOld ()=0

virtual ctre::phoenix::StatusCode	SetControlPrivate (controls::ControlRequest &request)

template<typename T >
StatusSignal< T > &	LookupStatusSignal (uint16_t spn, std::string signalName, bool reportOnConstruction)

template<typename T >
StatusSignal< T > &	LookupStatusSignal (uint16_t spn, uint16_t mapper_iter, std::function< std::map< int, StatusSignal< T > >()> map_filler, std::string signalName, bool reportOnConstruction)

template<typename T , typename U >
StatusSignal< T >	LookupDimensionlessStatusSignal (uint16_t spn, std::string signalName)
	Returns a unitless version of the StatusSignal by value. More...

Protected Attributes inherited from ctre::phoenix6::hardware::ParentDevice
DeviceIdentifier	deviceIdentifier

Static Protected Attributes inherited from ctre::phoenix6::hardware::ParentDevice
template<typename... Devices>
static constexpr bool	is_all_device_v = is_all_device<Devices...>::value
	Whether all types passed in are convertible to ParentDevice references. More...

Detailed Description

Class description for the Pigeon 2 IMU sensor that measures orientation.

Constructor & Destructor Documentation

◆ Pigeon2()

ctre::phoenix6::hardware::Pigeon2::Pigeon2	(	int	deviceId,
		std::string	canbus = `""`
	)

Constructs a new Pigeon 2 sensor object.

Parameters

deviceId	ID of the device, as configured in Phoenix Tuner.
canbus	Name of the CAN bus this device is on. Possible CAN bus strings are: "rio" for the native roboRIO CAN bus CANivore name or serial number SocketCAN interface (non-FRC Linux only) "" for any CANivore seen by the program empty string (default) to select the default for the system: "rio" on roboRIO "can0" on Linux "" on Windows

◆ ~Pigeon2()

ctre::phoenix6::hardware::Pigeon2::~Pigeon2 ( )

Member Function Documentation

◆ Calibrate()

void ctre::phoenix6::hardware::Pigeon2::Calibrate ( )

inlinefinal

This function does nothing; it exists to satisfy the WPILib Gyro interface.

Pigeon 2 does not require manual calibration.

◆ GetAngle()

double ctre::phoenix6::hardware::Pigeon2::GetAngle ( ) const

override

◆ GetRate()

double ctre::phoenix6::hardware::Pigeon2::GetRate ( ) const

override

◆ GetRotation2d()

frc::Rotation2d ctre::phoenix6::hardware::Pigeon2::GetRotation2d ( ) const

override

◆ InitSendable()

void ctre::phoenix6::hardware::Pigeon2::InitSendable ( wpi::SendableBuilder & builder )

override

◆ Reset()

void ctre::phoenix6::hardware::Pigeon2::Reset ( )

final

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

ctre/phoenix6/Pigeon2.hpp

Public Member Functions

Additional Inherited Members

Detailed Description

Constructor & Destructor Documentation

◆ Pigeon2()

◆ ~Pigeon2()

Member Function Documentation

◆ Calibrate()

◆ GetAngle()

◆ GetRate()

◆ GetRotation2d()

◆ InitSendable()

◆ Reset()