ctre::phoenix6::sim::Pigeon2SimState Class Reference

Class to control the state of a simulated hardware::Pigeon2. More...

#include <ctre/phoenix6/sim/Pigeon2SimState.hpp>

Public Member Functions
	Pigeon2SimState (hardware::core::CorePigeon2 const &device)
	Creates an object to control the state of the given hardware::Pigeon2.
	Pigeon2SimState (Pigeon2SimState const &)=delete
	Pigeon2SimState (Pigeon2SimState &&)=default
Pigeon2SimState &	operator= (Pigeon2SimState const &)=delete
Pigeon2SimState &	operator= (Pigeon2SimState &&)=default
ctre::phoenix::StatusCode	SetSupplyVoltage (units::voltage::volt_t volts)
	Sets the simulated supply voltage of the Pigeon2.
ctre::phoenix::StatusCode	SetRawYaw (units::angle::degree_t deg)
	Sets the simulated raw yaw of the Pigeon2.
ctre::phoenix::StatusCode	AddYaw (units::angle::degree_t dDeg)
	Adds to the simulated yaw of the Pigeon2.
ctre::phoenix::StatusCode	SetPitch (units::angle::degree_t deg)
	Sets the simulated pitch of the Pigeon2.
ctre::phoenix::StatusCode	SetRoll (units::angle::degree_t deg)
	Sets the simulated roll of the Pigeon2.
ctre::phoenix::StatusCode	SetAngularVelocityX (units::angular_velocity::degrees_per_second_t dps)
	Sets the simulated angular velocity X component of the Pigeon2.
ctre::phoenix::StatusCode	SetAngularVelocityY (units::angular_velocity::degrees_per_second_t dps)
	Sets the simulated angular velocity Y component of the Pigeon2.
ctre::phoenix::StatusCode	SetAngularVelocityZ (units::angular_velocity::degrees_per_second_t dps)
	Sets the simulated angular velocity Z component of the Pigeon2.

Detailed Description

Class to control the state of a simulated hardware::Pigeon2.

Constructor & Destructor Documentation

Pigeon2SimState() [1/3]

ctre::phoenix6::sim::Pigeon2SimState::Pigeon2SimState

(

hardware::core::CorePigeon2 const &

device

)

Creates an object to control the state of the given hardware::Pigeon2.

Note the recommended method of accessing simulation features is to use hardware::Pigeon2::GetSimState.

Parameters

device

Device to which this simulation state is attached

Pigeon2SimState() [2/3]

ctre::phoenix6::sim::Pigeon2SimState::Pigeon2SimState ( Pigeon2SimState const & )

delete

Pigeon2SimState() [3/3]

ctre::phoenix6::sim::Pigeon2SimState::Pigeon2SimState ( Pigeon2SimState && )

default

Member Function Documentation

AddYaw()

ctre::phoenix::StatusCode ctre::phoenix6::sim::Pigeon2SimState::AddYaw

(

units::angle::degree_t

dDeg

)

Adds to the simulated yaw of the Pigeon2.

Parameters

dDeg	The change in yaw in degrees

Returns

Status code

operator=() [1/2]

Pigeon2SimState & ctre::phoenix6::sim::Pigeon2SimState::operator= ( Pigeon2SimState && )

default

operator=() [2/2]

Pigeon2SimState & ctre::phoenix6::sim::Pigeon2SimState::operator= ( Pigeon2SimState const & )

delete

SetAngularVelocityX()

ctre::phoenix::StatusCode ctre::phoenix6::sim::Pigeon2SimState::SetAngularVelocityX

(

units::angular_velocity::degrees_per_second_t

dps

)

Sets the simulated angular velocity X component of the Pigeon2.

Parameters

dps	The X component of the angular velocity in degrees per second

Returns

Status code

SetAngularVelocityY()

ctre::phoenix::StatusCode ctre::phoenix6::sim::Pigeon2SimState::SetAngularVelocityY

(

units::angular_velocity::degrees_per_second_t

dps

)

Sets the simulated angular velocity Y component of the Pigeon2.

Parameters

dps	The Y component of the angular velocity in degrees per second

Returns

Status code

SetAngularVelocityZ()

ctre::phoenix::StatusCode ctre::phoenix6::sim::Pigeon2SimState::SetAngularVelocityZ

(

units::angular_velocity::degrees_per_second_t

dps

)

Sets the simulated angular velocity Z component of the Pigeon2.

Parameters

dps	The Z component of the angular velocity in degrees per second

Returns

Status code

SetPitch()

ctre::phoenix::StatusCode ctre::phoenix6::sim::Pigeon2SimState::SetPitch

(

units::angle::degree_t

deg

)

Sets the simulated pitch of the Pigeon2.

Parameters

deg	The pitch in degrees

Returns

Status code

SetRawYaw()

ctre::phoenix::StatusCode ctre::phoenix6::sim::Pigeon2SimState::SetRawYaw

(

units::angle::degree_t

deg

)

Sets the simulated raw yaw of the Pigeon2.

Inputs to this function over time should be continuous, as user calls of hardware::Pigeon2::SetYaw will be accounted for in the callee.

The Pigeon2 integrates this to calculate the true reported yaw.

When using the WPI Sim GUI, you will notice a readonly yaw and settable rawYawInput. The readonly signal is the emulated yaw which will match self-test in Tuner and the hardware API. Changes to rawYawInput will be integrated into the emulated yaw. This way a simulator can modify the yaw without overriding hardware API calls for home-ing the sensor.

Parameters

deg	The yaw in degrees

Returns

Status code

SetRoll()

ctre::phoenix::StatusCode ctre::phoenix6::sim::Pigeon2SimState::SetRoll

(

units::angle::degree_t

deg

)

Sets the simulated roll of the Pigeon2.

Parameters

deg	The roll in degrees

Returns

Status code

SetSupplyVoltage()

ctre::phoenix::StatusCode ctre::phoenix6::sim::Pigeon2SimState::SetSupplyVoltage

(

units::voltage::volt_t

volts

)

Sets the simulated supply voltage of the Pigeon2.

The minimum allowed supply voltage is 4 V - values below this will be promoted to 4 V.

Parameters

volts

The supply voltage in Volts

Returns

Status code

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

• ctre/phoenix6/sim/Pigeon2SimState.hpp