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 ()
void	Reset ()
	Resets the Pigeon 2 to a heading of zero.
wpi::math::Rotation2d	GetRotation2d () const
	Returns the heading of the Pigeon 2 as a wpi#math#Rotation2d.
wpi::math::Rotation3d	GetRotation3d () const
	Returns the orientation of the Pigeon 2 as a wpi#math#Rotation3d created from the quaternion signals.
wpi::math::Quaternion	GetQuaternion () const
	Returns the orientation of the Pigeon 2 as a wpi#math#Quaternion.
Public Member Functions inherited from ctre::phoenix6::hardware::core::CorePigeon2
	CorePigeon2 (int deviceId, CANBus 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< wpi::units::degree_t > &	GetYaw (bool refresh=true)
	Current reported yaw of the Pigeon2.
StatusSignal< wpi::units::degree_t > &	GetPitch (bool refresh=true)
	Current reported pitch of the Pigeon2.
StatusSignal< wpi::units::degree_t > &	GetRoll (bool refresh=true)
	Current reported roll of the Pigeon2.
StatusSignal< wpi::units::scalar_t > &	GetQuatW (bool refresh=true)
	The W component of the reported Quaternion.
StatusSignal< wpi::units::scalar_t > &	GetQuatX (bool refresh=true)
	The X component of the reported Quaternion.
StatusSignal< wpi::units::scalar_t > &	GetQuatY (bool refresh=true)
	The Y component of the reported Quaternion.
StatusSignal< wpi::units::scalar_t > &	GetQuatZ (bool refresh=true)
	The Z component of the reported Quaternion.
StatusSignal< wpi::units::scalar_t > &	GetGravityVectorX (bool refresh=true)
	The X component of the gravity vector.
StatusSignal< wpi::units::scalar_t > &	GetGravityVectorY (bool refresh=true)
	The Y component of the gravity vector.
StatusSignal< wpi::units::scalar_t > &	GetGravityVectorZ (bool refresh=true)
	The Z component of the gravity vector.
StatusSignal< wpi::units::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< wpi::units::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< wpi::units::second_t > &	GetUpTime (bool refresh=true)
	How long the Pigeon 2's been up in seconds, caps at 255 seconds.
StatusSignal< wpi::units::degree_t > &	GetAccumGyroX (bool refresh=true)
	The accumulated gyro about the X axis without any sensor fusing.
StatusSignal< wpi::units::degree_t > &	GetAccumGyroY (bool refresh=true)
	The accumulated gyro about the Y axis without any sensor fusing.
StatusSignal< wpi::units::degree_t > &	GetAccumGyroZ (bool refresh=true)
	The accumulated gyro about the Z axis without any sensor fusing.
StatusSignal< wpi::units::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< wpi::units::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< wpi::units::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< wpi::units::standard_gravity_t > &	GetAccelerationX (bool refresh=true)
	The acceleration measured by Pigeon2 in the X direction.
StatusSignal< wpi::units::standard_gravity_t > &	GetAccelerationY (bool refresh=true)
	The acceleration measured by Pigeon2 in the Y direction.
StatusSignal< wpi::units::standard_gravity_t > &	GetAccelerationZ (bool refresh=true)
	The acceleration measured by Pigeon2 in the Z direction.
StatusSignal< wpi::units::volt_t > &	GetSupplyVoltage (bool refresh=true)
	Measured supply voltage to the Pigeon2.
StatusSignal< wpi::units::degrees_per_second_t > &	GetAngularVelocityXDevice (bool refresh=true)
	The angular velocity (ω) of the Pigeon 2 about the device's X axis.
StatusSignal< wpi::units::degrees_per_second_t > &	GetAngularVelocityYDevice (bool refresh=true)
	The angular velocity (ω) of the Pigeon 2 about the device's Y axis.
StatusSignal< wpi::units::degrees_per_second_t > &	GetAngularVelocityZDevice (bool refresh=true)
	The angular velocity (ω) of the Pigeon 2 about the device's Z axis.
StatusSignal< wpi::units::microtesla_t > &	GetMagneticFieldX (bool refresh=true)
	The biased magnitude of the magnetic field measured by the Pigeon 2 in the X direction.
StatusSignal< wpi::units::microtesla_t > &	GetMagneticFieldY (bool refresh=true)
	The biased magnitude of the magnetic field measured by the Pigeon 2 in the Y direction.
StatusSignal< wpi::units::microtesla_t > &	GetMagneticFieldZ (bool refresh=true)
	The biased magnitude of the magnetic field measured by the Pigeon 2 in the Z direction.
StatusSignal< wpi::units::microtesla_t > &	GetRawMagneticFieldX (bool refresh=true)
	The raw magnitude of the magnetic field measured by the Pigeon 2 in the X direction.
StatusSignal< wpi::units::microtesla_t > &	GetRawMagneticFieldY (bool refresh=true)
	The raw magnitude of the magnetic field measured by the Pigeon 2 in the Y direction.
StatusSignal< wpi::units::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	SetYaw (wpi::units::degree_t newValue, wpi::units::second_t timeoutSeconds)
	The yaw to set the Pigeon2 to right now.
ctre::phoenix::StatusCode	SetYaw (wpi::units::degree_t newValue)
	The yaw to set the Pigeon2 to right now.
ctre::phoenix::StatusCode	ClearStickyFaults (wpi::units::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 (wpi::units::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 (wpi::units::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 (wpi::units::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 (wpi::units::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 (wpi::units::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 (wpi::units::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 (wpi::units::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 (wpi::units::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 (wpi::units::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 (wpi::units::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 (wpi::units::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 (wpi::units::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 (wpi::units::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 (wpi::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 (wpi::units::hertz_t optimizedFreqHz=4_Hz, wpi::units::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 (wpi::units::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

Static Public Member Functions
static Pigeon2	None ()
	Constructs a stubbed-out Pigeon2, where all status signals, controls, configs, etc.
Static Public Member Functions inherited from ctre::phoenix6::hardware::core::CorePigeon2
static CorePigeon2	None ()
	Constructs a stubbed-out CorePigeon2, where all status signals, controls, configs, etc.
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 (wpi::units::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 (wpi::units::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.

Additional Inherited Members
Public Types inherited from ctre::phoenix6::hardware::core::CorePigeon2
using	Configuration = configs::Pigeon2Configuration
	The configuration class for this device.
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()

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()

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

(

)

Member Function Documentation

GetQuaternion()

wpi::math::Quaternion ctre::phoenix6::hardware::Pigeon2::GetQuaternion ( ) const

inline

Returns the orientation of the Pigeon 2 as a wpi#math#Quaternion.

Returns

The current orientation of the Pigeon 2 as a wpi#math#Quaternion

GetRotation2d()

wpi::math::Rotation2d ctre::phoenix6::hardware::Pigeon2::GetRotation2d ( ) const

inline

Returns the heading of the Pigeon 2 as a wpi#math#Rotation2d.

The angle increases as the Pigeon 2 turns counterclockwise when looked at from the top. This follows the NWU axis convention.

Returns

The current heading of the Pigeon 2 as a wpi#math#Rotation2d

GetRotation3d()

wpi::math::Rotation3d ctre::phoenix6::hardware::Pigeon2::GetRotation3d ( ) const

inline

Returns the orientation of the Pigeon 2 as a wpi#math#Rotation3d created from the quaternion signals.

Returns

The current orientation of the Pigeon 2 as a wpi#math#Rotation3d

None()

Pigeon2 ctre::phoenix6::hardware::Pigeon2::None ( )

inlinestatic

Constructs a stubbed-out Pigeon2, where all status signals, controls, configs, etc.

perform no action and immediately return OK. This can be used to silence error messages for devices that have been completely removed from the robot.

Returns

Stubbed-out Pigeon2

Reset()

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

inline

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