CTRE Phoenix 6 C++ 25.0.0-beta-4
Loading...
Searching...
No Matches
ctre::phoenix6::configs::Pigeon2Configuration Class Reference

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

#include <ctre/phoenix6/core/CorePigeon2.hpp>

Inheritance diagram for ctre::phoenix6::configs::Pigeon2Configuration:
ctre::phoenix6::configs::ParentConfiguration ctre::phoenix6::ISerializable

Public Member Functions

constexpr Pigeon2Configuration ()=default
 
constexpr Pigeon2ConfigurationWithMountPose (MountPoseConfigs newMountPose)
 Modifies this configuration's MountPose parameter and returns itself for method-chaining and easier to use config API.
 
constexpr Pigeon2ConfigurationWithGyroTrim (GyroTrimConfigs newGyroTrim)
 Modifies this configuration's GyroTrim parameter and returns itself for method-chaining and easier to use config API.
 
constexpr Pigeon2ConfigurationWithPigeon2Features (Pigeon2FeaturesConfigs newPigeon2Features)
 Modifies this configuration's Pigeon2Features parameter and returns itself for method-chaining and easier to use config API.
 
constexpr Pigeon2ConfigurationWithCustomParams (CustomParamsConfigs newCustomParams)
 Modifies this configuration's CustomParams parameter and returns itself for method-chaining and easier to use config API.
 
std::string ToString () const
 Get the string representation of this configuration.
 
std::string Serialize () const
 Get the serialized form of this configuration.
 
ctre::phoenix::StatusCode Deserialize (const std::string &to_deserialize)
 Take a string and deserialize it to this configuration.
 

Public Attributes

bool FutureProofConfigs {true}
 True if we should factory default newer unsupported configs, false to leave newer unsupported configs alone.
 
MountPoseConfigs MountPose
 Configs for Pigeon 2's Mount Pose configuration.
 
GyroTrimConfigs GyroTrim
 Configs to trim the Pigeon2's gyroscope.
 
Pigeon2FeaturesConfigs Pigeon2Features
 Configs to enable/disable various features of the Pigeon2.
 
CustomParamsConfigs CustomParams
 Custom Params.
 

Detailed Description

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

This handles the configurations for the hardware::Pigeon2

Constructor & Destructor Documentation

◆ Pigeon2Configuration()

constexpr ctre::phoenix6::configs::Pigeon2Configuration::Pigeon2Configuration ( )
constexprdefault

Member Function Documentation

◆ Deserialize()

ctre::phoenix::StatusCode ctre::phoenix6::configs::Pigeon2Configuration::Deserialize ( const std::string & to_deserialize)
inlinevirtual

Take a string and deserialize it to this configuration.

Implements ctre::phoenix6::configs::ParentConfiguration.

◆ Serialize()

std::string ctre::phoenix6::configs::Pigeon2Configuration::Serialize ( ) const
inlinevirtual

Get the serialized form of this configuration.

Implements ctre::phoenix6::ISerializable.

◆ ToString()

std::string ctre::phoenix6::configs::Pigeon2Configuration::ToString ( ) const
inlinevirtual

Get the string representation of this configuration.

Implements ctre::phoenix6::configs::ParentConfiguration.

◆ WithCustomParams()

constexpr Pigeon2Configuration & ctre::phoenix6::configs::Pigeon2Configuration::WithCustomParams ( CustomParamsConfigs newCustomParams)
inlineconstexpr

Modifies this configuration's CustomParams parameter and returns itself for method-chaining and easier to use config API.

Custom Params.

Custom paramaters that have no real impact on controller.

Parameters
newCustomParamsParameter to modify
Returns
Itself

◆ WithGyroTrim()

constexpr Pigeon2Configuration & ctre::phoenix6::configs::Pigeon2Configuration::WithGyroTrim ( GyroTrimConfigs newGyroTrim)
inlineconstexpr

Modifies this configuration's GyroTrim parameter and returns itself for method-chaining and easier to use config API.

Configs to trim the Pigeon2's gyroscope.

Pigeon2 allows the user to trim the gyroscope's sensitivity. While this isn't necessary for the Pigeon2, as it comes calibrated out-of-the-box, users can make use of this to make the Pigeon2 even more accurate for their application.

Parameters
newGyroTrimParameter to modify
Returns
Itself

◆ WithMountPose()

constexpr Pigeon2Configuration & ctre::phoenix6::configs::Pigeon2Configuration::WithMountPose ( MountPoseConfigs newMountPose)
inlineconstexpr

Modifies this configuration's MountPose parameter and returns itself for method-chaining and easier to use config API.

Configs for Pigeon 2's Mount Pose configuration.

These configs allow the Pigeon2 to be mounted in whatever orientation that's desired and ensure the reported Yaw/Pitch/Roll is from the robot's reference.

Parameters
newMountPoseParameter to modify
Returns
Itself

◆ WithPigeon2Features()

constexpr Pigeon2Configuration & ctre::phoenix6::configs::Pigeon2Configuration::WithPigeon2Features ( Pigeon2FeaturesConfigs newPigeon2Features)
inlineconstexpr

Modifies this configuration's Pigeon2Features parameter and returns itself for method-chaining and easier to use config API.

Configs to enable/disable various features of the Pigeon2.

These configs allow the user to enable or disable various aspects of the Pigeon2.

Parameters
newPigeon2FeaturesParameter to modify
Returns
Itself

Member Data Documentation

◆ CustomParams

CustomParamsConfigs ctre::phoenix6::configs::Pigeon2Configuration::CustomParams

Custom Params.

Custom paramaters that have no real impact on controller.

◆ FutureProofConfigs

bool ctre::phoenix6::configs::Pigeon2Configuration::FutureProofConfigs {true}

True if we should factory default newer unsupported configs, false to leave newer unsupported configs alone.

This flag addresses a corner case where the device may have firmware with newer configs that didn't exist when this version of the API was built. If this occurs and this flag is true, unsupported new configs will be factory defaulted to avoid unexpected behavior.

This is also the behavior in Phoenix 5, so this flag is defaulted to true to match.

◆ GyroTrim

GyroTrimConfigs ctre::phoenix6::configs::Pigeon2Configuration::GyroTrim

Configs to trim the Pigeon2's gyroscope.

Pigeon2 allows the user to trim the gyroscope's sensitivity. While this isn't necessary for the Pigeon2, as it comes calibrated out-of-the-box, users can make use of this to make the Pigeon2 even more accurate for their application.

◆ MountPose

MountPoseConfigs ctre::phoenix6::configs::Pigeon2Configuration::MountPose

Configs for Pigeon 2's Mount Pose configuration.

These configs allow the Pigeon2 to be mounted in whatever orientation that's desired and ensure the reported Yaw/Pitch/Roll is from the robot's reference.

◆ Pigeon2Features

Pigeon2FeaturesConfigs ctre::phoenix6::configs::Pigeon2Configuration::Pigeon2Features

Configs to enable/disable various features of the Pigeon2.

These configs allow the user to enable or disable various aspects of the Pigeon2.


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