ctre::phoenix6::hardware::Pigeon2 Class Reference

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, CANBus canbus={})
	Constructs a new Pigeon 2 sensor object.
	Pigeon2 (int deviceId, std::string canbus)
	Constructs a new Pigeon 2 sensor object.
	~Pigeon2 ()
void	InitSendable (wpi::SendableBuilder &builder) override
void	Reset ()
	Resets the Pigeon 2 to a heading of zero.
frc::Rotation2d	GetRotation2d () const
	Returns the heading of the robot as a frc#Rotation2d.
frc::Rotation3d	GetRotation3d () const
	Returns the orientation of the robot as a frc#Rotation3d created from the quaternion signals.
Public Member Functions inherited from ctre::phoenix6::hardware::core::CorePigeon2
	CorePigeon2 (int deviceId, CANBus canbus={})
	Constructs a new Pigeon 2 sensor object.
	CorePigeon2 (int deviceId, std::string canbus)
	Constructs a new Pigeon 2 sensor object.
configs::Pigeon2Configurator &	GetConfigurator ()
	Gets the configurator for this Pigeon2.
configs::Pigeon2Configurator const &	GetConfigurator () const
	Gets the configurator for this Pigeon2.
sim::Pigeon2SimState &	GetSimState ()
	Get the simulation state for this device.
StatusSignal< int > &	GetVersionMajor (bool refresh=true)
	App Major Version number.
StatusSignal< int > &	GetVersionMinor (bool refresh=true)
	App Minor Version number.
StatusSignal< int > &	GetVersionBugfix (bool refresh=true)
	App Bugfix Version number.
StatusSignal< int > &	GetVersionBuild (bool refresh=true)
	App Build Version number.
StatusSignal< int > &	GetVersion (bool refresh=true)
	Full Version of firmware in device.
StatusSignal< int > &	GetFaultField (bool refresh=true)
	Integer representing all fault flags reported by the device.
StatusSignal< int > &	GetStickyFaultField (bool refresh=true)
	Integer representing all (persistent) sticky fault flags reported by the device.
StatusSignal< units::angle::degree_t > &	GetYaw (bool refresh=true)
	Current reported yaw of the Pigeon2.
StatusSignal< units::angle::degree_t > &	GetPitch (bool refresh=true)
	Current reported pitch of the Pigeon2.
StatusSignal< units::angle::degree_t > &	GetRoll (bool refresh=true)
	Current reported roll of the Pigeon2.
StatusSignal< units::dimensionless::scalar_t > &	GetQuatW (bool refresh=true)
	The W component of the reported Quaternion.
StatusSignal< units::dimensionless::scalar_t > &	GetQuatX (bool refresh=true)
	The X component of the reported Quaternion.
StatusSignal< units::dimensionless::scalar_t > &	GetQuatY (bool refresh=true)
	The Y component of the reported Quaternion.
StatusSignal< units::dimensionless::scalar_t > &	GetQuatZ (bool refresh=true)
	The Z component of the reported Quaternion.
StatusSignal< units::dimensionless::scalar_t > &	GetGravityVectorX (bool refresh=true)
	The X component of the gravity vector.
StatusSignal< units::dimensionless::scalar_t > &	GetGravityVectorY (bool refresh=true)
	The Y component of the gravity vector.
StatusSignal< units::dimensionless::scalar_t > &	GetGravityVectorZ (bool refresh=true)
	The Z component of the gravity vector.
StatusSignal< units::temperature::celsius_t > &	GetTemperature (bool refresh=true)
	Temperature of the Pigeon 2.
StatusSignal< bool > &	GetNoMotionEnabled (bool refresh=true)
	Whether the no-motion calibration feature is enabled.
StatusSignal< units::dimensionless::scalar_t > &	GetNoMotionCount (bool refresh=true)
	The number of times a no-motion event occurred, wraps at 15.
StatusSignal< bool > &	GetTemperatureCompensationDisabled (bool refresh=true)
	Whether the temperature-compensation feature is disabled.
StatusSignal< units::time::second_t > &	GetUpTime (bool refresh=true)
	How long the Pigeon 2's been up in seconds, caps at 255 seconds.
StatusSignal< units::angle::degree_t > &	GetAccumGyroX (bool refresh=true)
	The accumulated gyro about the X axis without any sensor fusing.
StatusSignal< units::angle::degree_t > &	GetAccumGyroY (bool refresh=true)
	The accumulated gyro about the Y axis without any sensor fusing.
StatusSignal< units::angle::degree_t > &	GetAccumGyroZ (bool refresh=true)
	The accumulated gyro about the Z axis without any sensor fusing.
StatusSignal< units::angular_velocity::degrees_per_second_t > &	GetAngularVelocityXWorld (bool refresh=true)
	The angular velocity (ω) of the Pigeon 2 about the X axis with respect to the world frame.
StatusSignal< units::angular_velocity::degrees_per_second_t > &	GetAngularVelocityYWorld (bool refresh=true)
	The angular velocity (ω) of the Pigeon 2 about the Y axis with respect to the world frame.
StatusSignal< units::angular_velocity::degrees_per_second_t > &	GetAngularVelocityZWorld (bool refresh=true)
	The angular velocity (ω) of the Pigeon 2 about the Z axis with respect to the world frame.
StatusSignal< units::acceleration::standard_gravity_t > &	GetAccelerationX (bool refresh=true)
	The acceleration measured by Pigeon2 in the X direction.
StatusSignal< units::acceleration::standard_gravity_t > &	GetAccelerationY (bool refresh=true)
	The acceleration measured by Pigeon2 in the Y direction.
StatusSignal< units::acceleration::standard_gravity_t > &	GetAccelerationZ (bool refresh=true)
	The acceleration measured by Pigeon2 in the Z direction.
StatusSignal< units::voltage::volt_t > &	GetSupplyVoltage (bool refresh=true)
	Measured supply voltage to the Pigeon2.
StatusSignal< units::angular_velocity::degrees_per_second_t > &	GetAngularVelocityXDevice (bool refresh=true)
	The angular velocity (ω) of the Pigeon 2 about the device's X axis.
StatusSignal< units::angular_velocity::degrees_per_second_t > &	GetAngularVelocityYDevice (bool refresh=true)
	The angular velocity (ω) of the Pigeon 2 about the device's Y axis.
StatusSignal< units::angular_velocity::degrees_per_second_t > &	GetAngularVelocityZDevice (bool refresh=true)
	The angular velocity (ω) of the Pigeon 2 about the device's Z axis.
StatusSignal< units::magnetic_field_strength::microtesla_t > &	GetMagneticFieldX (bool refresh=true)
	The biased magnitude of the magnetic field measured by the Pigeon 2 in the X direction.
StatusSignal< units::magnetic_field_strength::microtesla_t > &	GetMagneticFieldY (bool refresh=true)
	The biased magnitude of the magnetic field measured by the Pigeon 2 in the Y direction.
StatusSignal< units::magnetic_field_strength::microtesla_t > &	GetMagneticFieldZ (bool refresh=true)
	The biased magnitude of the magnetic field measured by the Pigeon 2 in the Z direction.
StatusSignal< units::magnetic_field_strength::microtesla_t > &	GetRawMagneticFieldX (bool refresh=true)
	The raw magnitude of the magnetic field measured by the Pigeon 2 in the X direction.
StatusSignal< units::magnetic_field_strength::microtesla_t > &	GetRawMagneticFieldY (bool refresh=true)
	The raw magnitude of the magnetic field measured by the Pigeon 2 in the Y direction.
StatusSignal< units::magnetic_field_strength::microtesla_t > &	GetRawMagneticFieldZ (bool refresh=true)
	The raw magnitude of the magnetic field measured by the Pigeon 2 in the Z direction.
StatusSignal< bool > &	GetIsProLicensed (bool refresh=true)
	Whether the device is Phoenix Pro licensed.
StatusSignal< bool > &	GetFault_Hardware (bool refresh=true)
	Hardware fault occurred.
StatusSignal< bool > &	GetStickyFault_Hardware (bool refresh=true)
	Hardware fault occurred.
StatusSignal< bool > &	GetFault_Undervoltage (bool refresh=true)
	Device supply voltage dropped to near brownout levels.
StatusSignal< bool > &	GetStickyFault_Undervoltage (bool refresh=true)
	Device supply voltage dropped to near brownout levels.
StatusSignal< bool > &	GetFault_BootDuringEnable (bool refresh=true)
	Device boot while detecting the enable signal.
StatusSignal< bool > &	GetStickyFault_BootDuringEnable (bool refresh=true)
	Device boot while detecting the enable signal.
StatusSignal< bool > &	GetFault_UnlicensedFeatureInUse (bool refresh=true)
	An unlicensed feature is in use, device may not behave as expected.
StatusSignal< bool > &	GetStickyFault_UnlicensedFeatureInUse (bool refresh=true)
	An unlicensed feature is in use, device may not behave as expected.
StatusSignal< bool > &	GetFault_BootupAccelerometer (bool refresh=true)
	Bootup checks failed: Accelerometer.
StatusSignal< bool > &	GetStickyFault_BootupAccelerometer (bool refresh=true)
	Bootup checks failed: Accelerometer.
StatusSignal< bool > &	GetFault_BootupGyroscope (bool refresh=true)
	Bootup checks failed: Gyroscope.
StatusSignal< bool > &	GetStickyFault_BootupGyroscope (bool refresh=true)
	Bootup checks failed: Gyroscope.
StatusSignal< bool > &	GetFault_BootupMagnetometer (bool refresh=true)
	Bootup checks failed: Magnetometer.
StatusSignal< bool > &	GetStickyFault_BootupMagnetometer (bool refresh=true)
	Bootup checks failed: Magnetometer.
StatusSignal< bool > &	GetFault_BootIntoMotion (bool refresh=true)
	Motion Detected during bootup.
StatusSignal< bool > &	GetStickyFault_BootIntoMotion (bool refresh=true)
	Motion Detected during bootup.
StatusSignal< bool > &	GetFault_DataAcquiredLate (bool refresh=true)
	Motion stack data acquisition was slower than expected.
StatusSignal< bool > &	GetStickyFault_DataAcquiredLate (bool refresh=true)
	Motion stack data acquisition was slower than expected.
StatusSignal< bool > &	GetFault_LoopTimeSlow (bool refresh=true)
	Motion stack loop time was slower than expected.
StatusSignal< bool > &	GetStickyFault_LoopTimeSlow (bool refresh=true)
	Motion stack loop time was slower than expected.
StatusSignal< bool > &	GetFault_SaturatedMagnetometer (bool refresh=true)
	Magnetometer values are saturated.
StatusSignal< bool > &	GetStickyFault_SaturatedMagnetometer (bool refresh=true)
	Magnetometer values are saturated.
StatusSignal< bool > &	GetFault_SaturatedAccelerometer (bool refresh=true)
	Accelerometer values are saturated.
StatusSignal< bool > &	GetStickyFault_SaturatedAccelerometer (bool refresh=true)
	Accelerometer values are saturated.
StatusSignal< bool > &	GetFault_SaturatedGyroscope (bool refresh=true)
	Gyroscope values are saturated.
StatusSignal< bool > &	GetStickyFault_SaturatedGyroscope (bool refresh=true)
	Gyroscope values are saturated.
ctre::phoenix::StatusCode	SetControl (controls::ControlRequest const &request)
	Control device with generic control request object.
ctre::phoenix::StatusCode	SetYaw (units::angle::degree_t newValue, units::time::second_t timeoutSeconds)
	The yaw to set the Pigeon2 to right now.
ctre::phoenix::StatusCode	SetYaw (units::angle::degree_t newValue)
	The yaw to set the Pigeon2 to right now.
ctre::phoenix::StatusCode	ClearStickyFaults (units::time::second_t timeoutSeconds)
	Clear the sticky faults in the device.
ctre::phoenix::StatusCode	ClearStickyFaults ()
	Clear the sticky faults in the device.
ctre::phoenix::StatusCode	ClearStickyFault_Hardware (units::time::second_t timeoutSeconds)
	Clear sticky fault: Hardware fault occurred.
ctre::phoenix::StatusCode	ClearStickyFault_Hardware ()
	Clear sticky fault: Hardware fault occurred.
ctre::phoenix::StatusCode	ClearStickyFault_Undervoltage (units::time::second_t timeoutSeconds)
	Clear sticky fault: Device supply voltage dropped to near brownout levels.
ctre::phoenix::StatusCode	ClearStickyFault_Undervoltage ()
	Clear sticky fault: Device supply voltage dropped to near brownout levels.
ctre::phoenix::StatusCode	ClearStickyFault_BootDuringEnable (units::time::second_t timeoutSeconds)
	Clear sticky fault: Device boot while detecting the enable signal.
ctre::phoenix::StatusCode	ClearStickyFault_BootDuringEnable ()
	Clear sticky fault: Device boot while detecting the enable signal.
ctre::phoenix::StatusCode	ClearStickyFault_UnlicensedFeatureInUse (units::time::second_t timeoutSeconds)
	Clear sticky fault: An unlicensed feature is in use, device may not behave as expected.
ctre::phoenix::StatusCode	ClearStickyFault_UnlicensedFeatureInUse ()
	Clear sticky fault: An unlicensed feature is in use, device may not behave as expected.
ctre::phoenix::StatusCode	ClearStickyFault_BootupAccelerometer (units::time::second_t timeoutSeconds)
	Clear sticky fault: Bootup checks failed: Accelerometer.
ctre::phoenix::StatusCode	ClearStickyFault_BootupAccelerometer ()
	Clear sticky fault: Bootup checks failed: Accelerometer.
ctre::phoenix::StatusCode	ClearStickyFault_BootupGyroscope (units::time::second_t timeoutSeconds)
	Clear sticky fault: Bootup checks failed: Gyroscope.
ctre::phoenix::StatusCode	ClearStickyFault_BootupGyroscope ()
	Clear sticky fault: Bootup checks failed: Gyroscope.
ctre::phoenix::StatusCode	ClearStickyFault_BootupMagnetometer (units::time::second_t timeoutSeconds)
	Clear sticky fault: Bootup checks failed: Magnetometer.
ctre::phoenix::StatusCode	ClearStickyFault_BootupMagnetometer ()
	Clear sticky fault: Bootup checks failed: Magnetometer.
ctre::phoenix::StatusCode	ClearStickyFault_BootIntoMotion (units::time::second_t timeoutSeconds)
	Clear sticky fault: Motion Detected during bootup.
ctre::phoenix::StatusCode	ClearStickyFault_BootIntoMotion ()
	Clear sticky fault: Motion Detected during bootup.
ctre::phoenix::StatusCode	ClearStickyFault_DataAcquiredLate (units::time::second_t timeoutSeconds)
	Clear sticky fault: Motion stack data acquisition was slower than expected.
ctre::phoenix::StatusCode	ClearStickyFault_DataAcquiredLate ()
	Clear sticky fault: Motion stack data acquisition was slower than expected.
ctre::phoenix::StatusCode	ClearStickyFault_LoopTimeSlow (units::time::second_t timeoutSeconds)
	Clear sticky fault: Motion stack loop time was slower than expected.
ctre::phoenix::StatusCode	ClearStickyFault_LoopTimeSlow ()
	Clear sticky fault: Motion stack loop time was slower than expected.
ctre::phoenix::StatusCode	ClearStickyFault_SaturatedMagnetometer (units::time::second_t timeoutSeconds)
	Clear sticky fault: Magnetometer values are saturated.
ctre::phoenix::StatusCode	ClearStickyFault_SaturatedMagnetometer ()
	Clear sticky fault: Magnetometer values are saturated.
ctre::phoenix::StatusCode	ClearStickyFault_SaturatedAccelerometer (units::time::second_t timeoutSeconds)
	Clear sticky fault: Accelerometer values are saturated.
ctre::phoenix::StatusCode	ClearStickyFault_SaturatedAccelerometer ()
	Clear sticky fault: Accelerometer values are saturated.
ctre::phoenix::StatusCode	ClearStickyFault_SaturatedGyroscope (units::time::second_t timeoutSeconds)
	Clear sticky fault: Gyroscope values are saturated.
ctre::phoenix::StatusCode	ClearStickyFault_SaturatedGyroscope ()
	Clear sticky fault: Gyroscope values are saturated.
Public Member Functions inherited from ctre::phoenix6::hardware::ParentDevice
	ParentDevice (int deviceID, std::string model, CANBus canbus)
virtual	~ParentDevice ()=0
	ParentDevice (ParentDevice const &)=delete
ParentDevice &	operator= (ParentDevice const &)=delete
int	GetDeviceID () const final
CANBus	GetNetwork () const final
uint64_t	GetDeviceHash () const final
	Gets a number unique for this device's hardware type and ID.
std::shared_ptr< controls::ControlRequest const >	GetAppliedControl () const final
	Get the latest applied control.
std::shared_ptr< controls::ControlRequest >	GetAppliedControl () final
	Get the latest applied control.
bool	HasResetOccurred () final
std::function< bool()>	GetResetOccurredChecker () const final
bool	IsConnected (units::second_t maxLatencySeconds=500_ms) final
	Returns whether the device is still connected to the robot.
StatusSignal< double > &	GetGenericSignal (uint32_t signal, bool refresh=true)
	This is a reserved routine for internal testing.
ctre::phoenix::StatusCode	OptimizeBusUtilization (units::frequency::hertz_t optimizedFreqHz=4_Hz, units::time::second_t timeoutSeconds=100_ms) final
	Optimizes the device's bus utilization by reducing the update frequencies of its status signals.
ctre::phoenix::StatusCode	ResetSignalFrequencies (units::time::second_t timeoutSeconds=100_ms) final
	Resets the update frequencies of all the device's status signals to the defaults.
Public Member Functions inherited from ctre::phoenix6::hardware::traits::CommonDevice
virtual	~CommonDevice ()=default

Additional Inherited Members
Public Types inherited from ctre::phoenix6::hardware::core::CorePigeon2
using	Configuration = configs::Pigeon2Configuration
	The configuration class for this device.
Static Public Member Functions inherited from ctre::phoenix6::hardware::ParentDevice
template<std::derived_from< traits::CommonDevice >... 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.
static ctre::phoenix::StatusCode	OptimizeBusUtilizationForAll (std::span< traits::CommonDevice *const > devices)
	Optimizes the bus utilization of the provided devices by reducing the update frequencies of their status signals.
template<std::derived_from< traits::CommonDevice >... Devices>
static ctre::phoenix::StatusCode	OptimizeBusUtilizationForAll (units::frequency::hertz_t optimizedFreqHz, Devices &... devices)
	Optimizes the bus utilization of the provided devices by reducing the update frequencies of their status signals.
static ctre::phoenix::StatusCode	OptimizeBusUtilizationForAll (units::frequency::hertz_t optimizedFreqHz, std::span< traits::CommonDevice *const > devices)
	Optimizes the bus utilization of the provided devices by reducing the update frequencies of their status signals.
template<std::derived_from< traits::CommonDevice >... Devices>
static ctre::phoenix::StatusCode	ResetSignalFrequenciesForAll (Devices &... devices)
	Resets the update frequencies of all the devices' status signals to the defaults.
static ctre::phoenix::StatusCode	ResetSignalFrequenciesForAll (std::span< traits::CommonDevice *const > devices)
	Resets the update frequencies of all the devices' status signals to the defaults.
Protected Member Functions inherited from ctre::phoenix6::hardware::ParentDevice
virtual ctre::phoenix::StatusCode	SetControlPrivate (controls::ControlRequest const &request)
template<typename T >
StatusSignal< T > &	LookupStatusSignal (uint16_t spn, std::string signalName, bool reportOnConstruction, bool refresh)
template<typename T >
StatusSignal< T > &	LookupStatusSignal (uint16_t spn, std::string signalName, std::function< std::map< uint16_t, std::string >()> mapFiller, bool reportOnConstruction, bool refresh)
Protected Attributes inherited from ctre::phoenix6::hardware::ParentDevice
DeviceIdentifier	deviceIdentifier
Static Protected Attributes inherited from ctre::phoenix6::hardware::ParentDevice
static constexpr controls::EmptyControl	_emptyControl {}

Detailed Description

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

Constructor & Destructor Documentation

Pigeon2() [1/2]

ctre::phoenix6::hardware::Pigeon2::Pigeon2	(	int	deviceId,
		CANBus	canbus = {} )

Constructs a new Pigeon 2 sensor object.

Parameters

deviceId	ID of the device, as configured in Phoenix Tuner
canbus	The CAN bus this device is on

Pigeon2() [2/2]

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

Deprecated

Constructing devices with a CAN bus string is deprecated for removal in the 2027 season. Construct devices using a CANBus instance instead.

~Pigeon2()

ctre::phoenix6::hardware::Pigeon2::~Pigeon2

(

)

Member Function Documentation

GetRotation2d()

frc::Rotation2d ctre::phoenix6::hardware::Pigeon2::GetRotation2d

(

)

const

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

The angle increases as the Pigeon 2 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

GetRotation3d()

frc::Rotation3d ctre::phoenix6::hardware::Pigeon2::GetRotation3d

(

)

const

Returns the orientation of the robot as a frc#Rotation3d created from the quaternion signals.

Returns

The current orientation of the robot as a frc#Rotation3d

InitSendable()

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

override

Reset()

void ctre::phoenix6::hardware::Pigeon2::Reset

(

)

Resets the Pigeon 2 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.

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

• ctre/phoenix6/Pigeon2.hpp