`phoenix6.sim.pigeon2_sim_state`#

Module Contents#

class phoenix6.sim.pigeon2_sim_state.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.

Parameters:: device (CorePigeon2) – Device to which this simulation state is attached

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.

Parameters:: volts (volt) – The supply voltage in Volts
Returns:: Status code
Return type:: StatusCode

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.

Parameters:: deg (degree) – The yaw in degrees
Returns:: Status code
Return type:: StatusCode

add_yaw(ddeg: phoenix6.units.degree) → phoenix6.status_code.StatusCode#

Adds to the simulated yaw of the Pigeon2.

Parameters:: ddeg (degree) – The change in position in rotations
Returns:: Status code
Return type:: StatusCode

set_pitch(deg: phoenix6.units.degree) → phoenix6.status_code.StatusCode#

Sets the simulated pitch of the Pigeon2.

Parameters:: deg (degree) – The pitch in degrees
Returns:: Status code
Return type:: StatusCode

set_roll(deg: phoenix6.units.degree) → phoenix6.status_code.StatusCode#

Sets the simulated roll of the Pigeon2.

Parameters:: deg (degree) – The roll in degrees
Returns:: Status code
Return type:: StatusCode

set_angular_velocity_x(dps: phoenix6.units.degrees_per_second) → phoenix6.status_code.StatusCode#

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
Return type:: StatusCode

set_angular_velocity_y(dps: phoenix6.units.degrees_per_second) → phoenix6.status_code.StatusCode#

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
Return type:: StatusCode

set_angular_velocity_z(dps: phoenix6.units.degrees_per_second) → phoenix6.status_code.StatusCode#

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
Return type:: StatusCode

phoenix6.sim.pigeon2_sim_state#

Module Contents#

`phoenix6.sim.pigeon2_sim_state`#