phoenix6.hardware.pigeon2

Module Contents

class phoenix6.hardware.pigeon2.Pigeon2(device_id: int, canbus: str | phoenix6.canbus.CANBus = '')

Bases: phoenix6.hardware.core.core_pigeon2.CorePigeon2, wpiutil.Sendable

Constructs a new Pigeon 2 sensor object.

Parameters:

• device_id (int) – ID of the device, as configured in Phoenix Tuner.

• canbus (str | CANBus, optional) –

  Name of the CAN bus this device is on. Possible CAN bus strings are:

  • ”rio” for the native roboRIO CAN bus

  • CANivore name or serial number

  • SocketCAN interface (non-FRC Linux only)

  • ”*” for any CANivore seen by the program

  • empty string (default) to select the default for the system:

    • ”rio” on roboRIO

    • ”can0” on Linux

    • ”*” on Windows

close()

reset()

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.

getRotation2d() → wpimath.geometry.Rotation2d

Returns the heading of the robot as a Rotation2d.

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

The angle is continuous; that is, it will continue from 360 to 361 degrees. This allows for algorithms that wouldn’t want to see a discontinuity in the gyro output as it sweeps past from 360 to 0 on the second time around.

Returns:

The current heading of the robot as a Rotation2d

Return type:

Rotation2d

getRotation3d() → wpimath.geometry.Rotation3d

Returns the orientation of the robot as a Rotation3d created from the quaternion signals.

Returns:

The current orientation of the robot as a Rotation3d

Return type:

Rotation3d

initSendable(builder: wpiutil.SendableBuilder)