Package com.ctre.phoenix6.sim

Class Pigeon2SimState

java.lang.Object
com.ctre.phoenix6.sim.Pigeon2SimState
public class Pigeon2SimState extends Object
Class to control the state of a simulated Pigeon2.

  • Constructor Details

    • Pigeon2SimState

      public Pigeon2SimState(CorePigeon2 device)
      Creates an object to control the state of the given Pigeon2.

      Note the recommended method of accessing simulation features is to use CorePigeon2.getSimState()

      Parameters:
      device - Device to which this simulation state is attached

  • Method Details

    • setSupplyVoltage

      public StatusCode setSupplyVoltage(double 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

    • setSupplyVoltage

      public StatusCode setSupplyVoltage(edu.wpi.first.units.measure.Voltage voltage)
      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:
      voltage - The supply voltage
      Returns:
      Status code

    • setRawYaw

      public StatusCode setRawYaw(double deg)
      Sets the simulated raw yaw of the Pigeon2.

      Inputs to this function over time should be continuous, as user calls of CorePigeon2.setYaw(double) 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

    • setRawYaw

      public StatusCode setRawYaw(edu.wpi.first.units.measure.Angle yaw)
      Sets the simulated raw yaw of the Pigeon2.

      Inputs to this function over time should be continuous, as user calls of CorePigeon2.setYaw(double) 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:
      yaw - The yaw
      Returns:
      Status code

    • addYaw

      public StatusCode addYaw(double dDeg)
      Adds to the simulated yaw of the Pigeon2.
      Parameters:
      dDeg - The change in yaw in degrees
      Returns:
      Status code

    • addYaw

      public StatusCode addYaw(edu.wpi.first.units.measure.Angle dYaw)
      Adds to the simulated yaw of the Pigeon2.
      Parameters:
      dYaw - The change in yaw
      Returns:
      Status code

    • setPitch

      public StatusCode setPitch(double deg)
      Sets the simulated pitch of the Pigeon2.
      Parameters:
      deg - The pitch in degrees
      Returns:
      Status code

    • setPitch

      public StatusCode setPitch(edu.wpi.first.units.measure.Angle pitch)
      Sets the simulated pitch of the Pigeon2.
      Parameters:
      pitch - The pitch
      Returns:
      Status code

    • setRoll

      public StatusCode setRoll(double deg)
      Sets the simulated roll of the Pigeon2.
      Parameters:
      deg - The roll in degrees
      Returns:
      Status code

    • setRoll

      public StatusCode setRoll(edu.wpi.first.units.measure.Angle roll)
      Sets the simulated roll of the Pigeon2.
      Parameters:
      roll - The roll
      Returns:
      Status code

    • setAngularVelocityX

      public StatusCode setAngularVelocityX(double 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

    • setAngularVelocityX

      public StatusCode setAngularVelocityX(edu.wpi.first.units.measure.AngularVelocity angularVel)
      Sets the simulated angular velocity X component of the Pigeon2.
      Parameters:
      angularVel - The X component of the angular velocity
      Returns:
      Status code

    • setAngularVelocityY

      public StatusCode setAngularVelocityY(double 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

    • setAngularVelocityY

      public StatusCode setAngularVelocityY(edu.wpi.first.units.measure.AngularVelocity angularVel)
      Sets the simulated angular velocity Y component of the Pigeon2.
      Parameters:
      angularVel - The Y component of the angular velocity
      Returns:
      Status code

    • setAngularVelocityZ

      public StatusCode setAngularVelocityZ(double 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

    • setAngularVelocityZ

      public StatusCode setAngularVelocityZ(edu.wpi.first.units.measure.AngularVelocity angularVel)
      Sets the simulated angular velocity Z component of the Pigeon2.
      Parameters:
      angularVel - The Z component of the angular velocity
      Returns:
      Status code