:py:mod:`phoenix6.sim.pigeon2_sim_state`
========================================

.. py:module:: phoenix6.sim.pigeon2_sim_state

Module Contents
---------------


.. py:class:: Pigeon2SimState(device: phoenix6.hardware.core.core_pigeon2.CorePigeon2)


   Creates an object to control the state of a simulated Pigeon2.

   Note the recommended method of accessing simulation features is
   to use Pigeon2.sim_state.

   :param device: Device to which this simulation state is attached
   :type device: CorePigeon2

   .. py:method:: set_supply_voltage(volts: phoenix6.units.volt) -> phoenix6.status_code.StatusCode

      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.

      :param volts: The supply voltage in Volts
      :type volts: volt
      :returns: Status code
      :rtype: StatusCode


   .. py:method:: set_raw_yaw(deg: phoenix6.units.degree) -> phoenix6.status_code.StatusCode

      Sets the simulated raw yaw of the Pigeon2.

      Inputs to this function over time should be continuous, as user calls of
      Pigeon2.set_yaw 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.

      :param deg: The yaw in degrees
      :type deg: degree
      :returns: Status code
      :rtype: StatusCode


   .. py:method:: add_yaw(ddeg: phoenix6.units.degree) -> phoenix6.status_code.StatusCode

      Adds to the simulated yaw of the Pigeon2.

      :param ddeg: The change in position in rotations
      :type ddeg: degree
      :returns: Status code
      :rtype: StatusCode


   .. py:method:: set_pitch(deg: phoenix6.units.degree) -> phoenix6.status_code.StatusCode

      Sets the simulated pitch of the Pigeon2.

      :param deg: The pitch in degrees
      :type deg: degree
      :returns: Status code
      :rtype: StatusCode


   .. py:method:: set_roll(deg: phoenix6.units.degree) -> phoenix6.status_code.StatusCode

      Sets the simulated roll of the Pigeon2.

      :param deg: The roll in degrees
      :type deg: degree
      :returns: Status code
      :rtype: StatusCode


   .. py:method:: set_angular_velocity_x(dps: phoenix6.units.degrees_per_second) -> phoenix6.status_code.StatusCode

      Sets the simulated angular velocity X component of the Pigeon2.

      :param dps: The X component of the angular velocity in degrees per second
      :type deg: degrees_per_second
      :returns: Status code
      :rtype: StatusCode


   .. py:method:: set_angular_velocity_y(dps: phoenix6.units.degrees_per_second) -> phoenix6.status_code.StatusCode

      Sets the simulated angular velocity Y component of the Pigeon2.

      :param dps: The Y component of the angular velocity in degrees per second
      :type deg: degrees_per_second
      :returns: Status code
      :rtype: StatusCode


   .. py:method:: set_angular_velocity_z(dps: phoenix6.units.degrees_per_second) -> phoenix6.status_code.StatusCode

      Sets the simulated angular velocity Z component of the Pigeon2.

      :param dps: The Z component of the angular velocity in degrees per second
      :type deg: degrees_per_second
      :returns: Status code
      :rtype: StatusCode