Package com.ctre.phoenix6.configs

Class Pigeon2Configuration

java.lang.Object
com.ctre.phoenix6.configs.Pigeon2Configuration
All Implemented Interfaces:
ParentConfiguration, ISerializable
public class Pigeon2Configuration extends Object implements ParentConfiguration
Class description for the Pigeon 2 IMU sensor that measures orientation. This handles the configurations for the Pigeon2

  • Field Details

    • FutureProofConfigs

      public boolean FutureProofConfigs
      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.

    • MountPose

      public MountPoseConfigs 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.

    • GyroTrim

      public GyroTrimConfigs 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.

    • Pigeon2Features

      public Pigeon2FeaturesConfigs Pigeon2Features
      Configs to enable/disable various features of the Pigeon2.

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

    • CustomParams

      public CustomParamsConfigs CustomParams
      Custom Params.

      Custom paramaters that have no real impact on controller.

  • Constructor Details

  • Method Details

    • withMountPose

      public Pigeon2Configuration withMountPose(MountPoseConfigs newMountPose)
      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:
      newMountPose - Parameter to modify
      Returns:
      Itself

    • withGyroTrim

      public Pigeon2Configuration withGyroTrim(GyroTrimConfigs newGyroTrim)
      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:
      newGyroTrim - Parameter to modify
      Returns:
      Itself

    • withPigeon2Features

      public Pigeon2Configuration withPigeon2Features(Pigeon2FeaturesConfigs newPigeon2Features)
      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:
      newPigeon2Features - Parameter to modify
      Returns:
      Itself

    • withCustomParams

      public Pigeon2Configuration withCustomParams(CustomParamsConfigs newCustomParams)
      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:
      newCustomParams - Parameter to modify
      Returns:
      Itself

    • toString

      public String toString()
      Overrides:
      toString in class Object

    • serialize

      public String serialize()
      Get the serialized form of this configuration
      Specified by:
      serialize in interface ISerializable
      Returns:
      Serialized form of this config group

    • deserialize

      public StatusCode deserialize(String to_deserialize)
      Take a string and deserialize it to this configuration
      Specified by:
      deserialize in interface ParentConfiguration
      Returns:
      Return code of the deserialize method