16#include <units/acceleration.h>
17#include <units/angle.h>
18#include <units/angular_velocity.h>
19#include <units/dimensionless.h>
20#include <units/magnetic_field_strength.h>
21#include <units/temperature.h>
22#include <units/time.h>
23#include <units/voltage.h>
231 std::stringstream ss;
232 ss <<
"Pigeon2Configuration" << std::endl;
245 std::stringstream ss;
618 std::stringstream ss;
663 std::stringstream ss;
700 std::stringstream ss;
739 std::stringstream ss;
778 std::stringstream ss;
817 std::stringstream ss;
854 std::stringstream ss;
891 std::stringstream ss;
928 std::stringstream ss;
965 std::stringstream ss;
1004 std::stringstream ss;
1043 std::stringstream ss;
1080 std::stringstream ss;
1117 std::stringstream ss;
1154 std::stringstream ss;
1229 std::unique_ptr<sim::Pigeon2SimState> _simState{};
1242 if (_simState ==
nullptr)
1243 _simState = std::make_unique<sim::Pigeon2SimState>(*
this);
2528 return SetYaw(newValue, 0.100_s);
ii that the Software will be uninterrupted or error free
Definition CTRE_LICENSE.txt:251
CTREXPORT int c_ctre_phoenix6_serialize_double(int spn, double value, char **str)
Class for getting information about an available CAN bus.
Definition CANBus.hpp:19
Represents a status signal with data of type T, and operations available to retrieve information abou...
Definition StatusSignal.hpp:656
Custom Params.
Definition Configs.hpp:4576
std::string ToString() const override
Definition Configs.hpp:4645
std::string Serialize() const override
Definition Configs.hpp:4654
ctre::phoenix::StatusCode Deserialize(const std::string &to_deserialize) override
Definition Configs.hpp:4663
Configs to trim the Pigeon2's gyroscope.
Definition Configs.hpp:402
std::string Serialize() const override
Definition Configs.hpp:506
std::string ToString() const override
Definition Configs.hpp:496
ctre::phoenix::StatusCode Deserialize(const std::string &to_deserialize) override
Definition Configs.hpp:516
Configs for Pigeon 2's Mount Pose configuration.
Definition Configs.hpp:260
std::string ToString() const override
Definition Configs.hpp:354
ctre::phoenix::StatusCode Deserialize(const std::string &to_deserialize) override
Definition Configs.hpp:374
std::string Serialize() const override
Definition Configs.hpp:364
Definition Configs.hpp:40
Definition Configurator.hpp:22
ctre::phoenix::StatusCode SetConfigsPrivate(const std::string &serializedString, units::time::second_t timeoutSeconds, bool futureProofConfigs, bool overrideIfDuplicate)
Definition Configurator.hpp:77
ctre::phoenix::StatusCode GetConfigsPrivate(std::string &serializedString, units::time::second_t timeoutSeconds) const
Definition Configurator.hpp:101
units::time::second_t DefaultTimeoutSeconds
The default maximum amount of time to wait for a config.
Definition Configurator.hpp:27
Class description for the Pigeon 2 IMU sensor that measures orientation.
Definition CorePigeon2.hpp:42
Pigeon2FeaturesConfigs Pigeon2Features
Configs to enable/disable various features of the Pigeon2.
Definition CorePigeon2.hpp:109
constexpr Pigeon2Configuration & WithGyroTrim(GyroTrimConfigs newGyroTrim)
Modifies this configuration's GyroTrim parameter and returns itself for method-chaining and easier to...
Definition CorePigeon2.hpp:172
CustomParamsConfigs CustomParams
Custom Params.
Definition CorePigeon2.hpp:122
GyroTrimConfigs GyroTrim
Configs to trim the Pigeon2's gyroscope.
Definition CorePigeon2.hpp:94
std::string ToString() const
Get the string representation of this configuration.
Definition CorePigeon2.hpp:229
ctre::phoenix::StatusCode Deserialize(const std::string &to_deserialize)
Take a string and deserialize it to this configuration.
Definition CorePigeon2.hpp:256
constexpr Pigeon2Configuration()=default
bool FutureProofConfigs
True if we should factory default newer unsupported configs, false to leave newer unsupported configs...
Definition CorePigeon2.hpp:59
constexpr Pigeon2Configuration & WithMountPose(MountPoseConfigs newMountPose)
Modifies this configuration's MountPose parameter and returns itself for method-chaining and easier t...
Definition CorePigeon2.hpp:144
MountPoseConfigs MountPose
Configs for Pigeon 2's Mount Pose configuration.
Definition CorePigeon2.hpp:76
std::string Serialize() const
Get the serialized form of this configuration.
Definition CorePigeon2.hpp:243
constexpr Pigeon2Configuration & WithPigeon2Features(Pigeon2FeaturesConfigs newPigeon2Features)
Modifies this configuration's Pigeon2Features parameter and returns itself for method-chaining and ea...
Definition CorePigeon2.hpp:197
constexpr Pigeon2Configuration & WithCustomParams(CustomParamsConfigs newCustomParams)
Modifies this configuration's CustomParams parameter and returns itself for method-chaining and easie...
Definition CorePigeon2.hpp:220
Class description for the Pigeon 2 IMU sensor that measures orientation.
Definition CorePigeon2.hpp:273
ctre::phoenix::StatusCode ClearStickyFault_BootDuringEnable()
Clear sticky fault: Device boot while detecting the enable signal.
Definition CorePigeon2.hpp:759
ctre::phoenix::StatusCode Apply(const CustomParamsConfigs &configs, units::time::second_t timeoutSeconds)
Applies the contents of the specified config to the device.
Definition CorePigeon2.hpp:579
ctre::phoenix::StatusCode Refresh(Pigeon2FeaturesConfigs &configs, units::time::second_t timeoutSeconds) const
Refreshes the values of the specified config group.
Definition CorePigeon2.hpp:487
ctre::phoenix::StatusCode Apply(const MountPoseConfigs &configs)
Applies the contents of the specified config to the device.
Definition CorePigeon2.hpp:385
ctre::phoenix::StatusCode ClearStickyFault_SaturatedAccelerometer()
Clear sticky fault: Accelerometer values are saturated.
Definition CorePigeon2.hpp:1099
ctre::phoenix::StatusCode ClearStickyFault_LoopTimeSlow()
Clear sticky fault: Motion stack loop time was slower than expected.
Definition CorePigeon2.hpp:1024
ctre::phoenix::StatusCode ClearStickyFault_BootupMagnetometer()
Clear sticky fault: Bootup checks failed: Magnetometer.
Definition CorePigeon2.hpp:910
ctre::phoenix::StatusCode Apply(const CustomParamsConfigs &configs)
Applies the contents of the specified config to the device.
Definition CorePigeon2.hpp:565
ctre::phoenix::StatusCode ClearStickyFault_SaturatedGyroscope(units::time::second_t timeoutSeconds)
Clear sticky fault: Gyroscope values are saturated.
Definition CorePigeon2.hpp:1152
ctre::phoenix::StatusCode Apply(const Pigeon2Configuration &configs, units::time::second_t timeoutSeconds)
Applies the contents of the specified config to the device.
Definition CorePigeon2.hpp:338
ctre::phoenix::StatusCode ClearStickyFault_UnlicensedFeatureInUse()
Clear sticky fault: An unlicensed feature is in use, device may not behave as expected.
Definition CorePigeon2.hpp:798
ctre::phoenix::StatusCode ClearStickyFault_SaturatedAccelerometer(units::time::second_t timeoutSeconds)
Clear sticky fault: Accelerometer values are saturated.
Definition CorePigeon2.hpp:1115
ctre::phoenix::StatusCode SetYaw(units::angle::degree_t newValue, units::time::second_t timeoutSeconds)
The yaw to set the Pigeon2 to right now.
Definition CorePigeon2.hpp:616
ctre::phoenix::StatusCode ClearStickyFault_BootupGyroscope(units::time::second_t timeoutSeconds)
Clear sticky fault: Bootup checks failed: Gyroscope.
Definition CorePigeon2.hpp:889
ctre::phoenix::StatusCode ClearStickyFault_BootIntoMotion(units::time::second_t timeoutSeconds)
Clear sticky fault: Motion Detected during bootup.
Definition CorePigeon2.hpp:963
ctre::phoenix::StatusCode ClearStickyFault_Hardware(units::time::second_t timeoutSeconds)
Clear sticky fault: Hardware fault occurred.
Definition CorePigeon2.hpp:698
ctre::phoenix::StatusCode Refresh(Pigeon2FeaturesConfigs &configs) const
Refreshes the values of the specified config group.
Definition CorePigeon2.hpp:474
ctre::phoenix::StatusCode SetYaw(units::angle::degree_t newValue)
The yaw to set the Pigeon2 to right now.
Definition CorePigeon2.hpp:599
ctre::phoenix::StatusCode ClearStickyFault_Undervoltage(units::time::second_t timeoutSeconds)
Clear sticky fault: Device supply voltage dropped to near brownout levels.
Definition CorePigeon2.hpp:737
ctre::phoenix::StatusCode Apply(const Pigeon2FeaturesConfigs &configs, units::time::second_t timeoutSeconds)
Applies the contents of the specified config to the device.
Definition CorePigeon2.hpp:519
ctre::phoenix::StatusCode ClearStickyFault_DataAcquiredLate(units::time::second_t timeoutSeconds)
Clear sticky fault: Motion stack data acquisition was slower than expected.
Definition CorePigeon2.hpp:1002
ctre::phoenix::StatusCode ClearStickyFault_Undervoltage()
Clear sticky fault: Device supply voltage dropped to near brownout levels.
Definition CorePigeon2.hpp:720
ctre::phoenix::StatusCode ClearStickyFault_BootupMagnetometer(units::time::second_t timeoutSeconds)
Clear sticky fault: Bootup checks failed: Magnetometer.
Definition CorePigeon2.hpp:926
ctre::phoenix::StatusCode ClearStickyFault_BootIntoMotion()
Clear sticky fault: Motion Detected during bootup.
Definition CorePigeon2.hpp:947
ctre::phoenix::StatusCode Apply(const Pigeon2Configuration &configs)
Applies the contents of the specified config to the device.
Definition CorePigeon2.hpp:324
ctre::phoenix::StatusCode ClearStickyFault_UnlicensedFeatureInUse(units::time::second_t timeoutSeconds)
Clear sticky fault: An unlicensed feature is in use, device may not behave as expected.
Definition CorePigeon2.hpp:815
ctre::phoenix::StatusCode Refresh(MountPoseConfigs &configs) const
Refreshes the values of the specified config group.
Definition CorePigeon2.hpp:354
ctre::phoenix::StatusCode Apply(const Pigeon2FeaturesConfigs &configs)
Applies the contents of the specified config to the device.
Definition CorePigeon2.hpp:505
ctre::phoenix::StatusCode Apply(const GyroTrimConfigs &configs, units::time::second_t timeoutSeconds)
Applies the contents of the specified config to the device.
Definition CorePigeon2.hpp:459
ctre::phoenix::StatusCode ClearStickyFault_SaturatedMagnetometer()
Clear sticky fault: Magnetometer values are saturated.
Definition CorePigeon2.hpp:1062
ctre::phoenix::StatusCode ClearStickyFault_BootupAccelerometer()
Clear sticky fault: Bootup checks failed: Accelerometer.
Definition CorePigeon2.hpp:836
ctre::phoenix::StatusCode ClearStickyFaults(units::time::second_t timeoutSeconds)
Clear the sticky faults in the device.
Definition CorePigeon2.hpp:661
ctre::phoenix::StatusCode Refresh(GyroTrimConfigs &configs, units::time::second_t timeoutSeconds) const
Refreshes the values of the specified config group.
Definition CorePigeon2.hpp:427
ctre::phoenix::StatusCode Refresh(CustomParamsConfigs &configs) const
Refreshes the values of the specified config group.
Definition CorePigeon2.hpp:534
ctre::phoenix::StatusCode ClearStickyFault_SaturatedMagnetometer(units::time::second_t timeoutSeconds)
Clear sticky fault: Magnetometer values are saturated.
Definition CorePigeon2.hpp:1078
ctre::phoenix::StatusCode Refresh(MountPoseConfigs &configs, units::time::second_t timeoutSeconds) const
Refreshes the values of the specified config group.
Definition CorePigeon2.hpp:367
ctre::phoenix::StatusCode Refresh(GyroTrimConfigs &configs) const
Refreshes the values of the specified config group.
Definition CorePigeon2.hpp:414
ctre::phoenix::StatusCode ClearStickyFault_SaturatedGyroscope()
Clear sticky fault: Gyroscope values are saturated.
Definition CorePigeon2.hpp:1136
ctre::phoenix::StatusCode ClearStickyFault_BootDuringEnable(units::time::second_t timeoutSeconds)
Clear sticky fault: Device boot while detecting the enable signal.
Definition CorePigeon2.hpp:776
ctre::phoenix::StatusCode ClearStickyFault_BootupAccelerometer(units::time::second_t timeoutSeconds)
Clear sticky fault: Bootup checks failed: Accelerometer.
Definition CorePigeon2.hpp:852
ctre::phoenix::StatusCode ClearStickyFault_BootupGyroscope()
Clear sticky fault: Bootup checks failed: Gyroscope.
Definition CorePigeon2.hpp:873
ctre::phoenix::StatusCode Refresh(CustomParamsConfigs &configs, units::time::second_t timeoutSeconds) const
Refreshes the values of the specified config group.
Definition CorePigeon2.hpp:547
ctre::phoenix::StatusCode Refresh(Pigeon2Configuration &configs, units::time::second_t timeoutSeconds) const
Refreshes the values of the specified config group.
Definition CorePigeon2.hpp:306
ctre::phoenix::StatusCode ClearStickyFault_LoopTimeSlow(units::time::second_t timeoutSeconds)
Clear sticky fault: Motion stack loop time was slower than expected.
Definition CorePigeon2.hpp:1041
ctre::phoenix::StatusCode ClearStickyFaults()
Clear the sticky faults in the device.
Definition CorePigeon2.hpp:641
ctre::phoenix::StatusCode Apply(const MountPoseConfigs &configs, units::time::second_t timeoutSeconds)
Applies the contents of the specified config to the device.
Definition CorePigeon2.hpp:399
ctre::phoenix::StatusCode Refresh(Pigeon2Configuration &configs) const
Refreshes the values of the specified config group.
Definition CorePigeon2.hpp:292
ctre::phoenix::StatusCode ClearStickyFault_DataAcquiredLate()
Clear sticky fault: Motion stack data acquisition was slower than expected.
Definition CorePigeon2.hpp:985
ctre::phoenix::StatusCode Apply(const GyroTrimConfigs &configs)
Applies the contents of the specified config to the device.
Definition CorePigeon2.hpp:445
ctre::phoenix::StatusCode ClearStickyFault_Hardware()
Clear sticky fault: Hardware fault occurred.
Definition CorePigeon2.hpp:682
Configs to enable/disable various features of the Pigeon2.
Definition Configs.hpp:541
std::string ToString() const override
Definition Configs.hpp:622
ctre::phoenix::StatusCode Deserialize(const std::string &to_deserialize) override
Definition Configs.hpp:642
std::string Serialize() const override
Definition Configs.hpp:632
Abstract Control Request class that other control requests extend for use.
Definition ControlRequest.hpp:30
Definition DeviceIdentifier.hpp:19
Parent class for all devices.
Definition ParentDevice.hpp:28
Class description for the Pigeon 2 IMU sensor that measures orientation.
Definition CorePigeon2.hpp:1170
StatusSignal< bool > & GetTemperatureCompensationDisabled(bool refresh=true)
Whether the temperature-compensation feature is disabled.
StatusSignal< units::dimensionless::scalar_t > & GetQuatX(bool refresh=true)
The X component of the reported Quaternion.
StatusSignal< units::angular_velocity::degrees_per_second_t > & GetAngularVelocityXWorld(bool refresh=true)
The angular velocity (ω) of the Pigeon 2 about the X axis with respect to the world frame.
StatusSignal< units::angle::degree_t > & GetRoll(bool refresh=true)
Current reported roll of the Pigeon2.
StatusSignal< units::acceleration::standard_gravity_t > & GetAccelerationZ(bool refresh=true)
The acceleration measured by Pigeon2 in the Z direction.
StatusSignal< units::angular_velocity::degrees_per_second_t > & GetAngularVelocityXDevice(bool refresh=true)
The angular velocity (ω) of the Pigeon 2 about the device's X axis.
ctre::phoenix::StatusCode ClearStickyFault_Undervoltage()
Clear sticky fault: Device supply voltage dropped to near brownout levels.
Definition CorePigeon2.hpp:2602
ctre::phoenix::StatusCode ClearStickyFault_BootupMagnetometer(units::time::second_t timeoutSeconds)
Clear sticky fault: Bootup checks failed: Magnetometer.
Definition CorePigeon2.hpp:2705
ctre::phoenix::StatusCode ClearStickyFault_BootupAccelerometer()
Clear sticky fault: Bootup checks failed: Accelerometer.
Definition CorePigeon2.hpp:2672
StatusSignal< units::angle::degree_t > & GetYaw(bool refresh=true)
Current reported yaw of the Pigeon2.
StatusSignal< bool > & GetFault_SaturatedMagnetometer(bool refresh=true)
Magnetometer values are saturated.
ctre::phoenix::StatusCode ClearStickyFault_DataAcquiredLate(units::time::second_t timeoutSeconds)
Clear sticky fault: Motion stack data acquisition was slower than expected.
Definition CorePigeon2.hpp:2750
ctre::phoenix::StatusCode ClearStickyFault_UnlicensedFeatureInUse()
Clear sticky fault: An unlicensed feature is in use, device may not behave as expected.
Definition CorePigeon2.hpp:2650
StatusSignal< units::magnetic_field_strength::microtesla_t > & GetRawMagneticFieldX(bool refresh=true)
The raw magnitude of the magnetic field measured by the Pigeon 2 in the X direction.
StatusSignal< bool > & GetStickyFault_BootupGyroscope(bool refresh=true)
Bootup checks failed: Gyroscope.
StatusSignal< units::dimensionless::scalar_t > & GetQuatY(bool refresh=true)
The Y component of the reported Quaternion.
StatusSignal< bool > & GetFault_LoopTimeSlow(bool refresh=true)
Motion stack loop time was slower than expected.
StatusSignal< units::dimensionless::scalar_t > & GetGravityVectorY(bool refresh=true)
The Y component of the gravity vector.
StatusSignal< bool > & GetFault_SaturatedAccelerometer(bool refresh=true)
Accelerometer values are saturated.
StatusSignal< bool > & GetStickyFault_UnlicensedFeatureInUse(bool refresh=true)
An unlicensed feature is in use, device may not behave as expected.
StatusSignal< units::angle::degree_t > & GetAccumGyroX(bool refresh=true)
The accumulated gyro about the X axis without any sensor fusing.
StatusSignal< int > & GetVersion(bool refresh=true)
Full Version of firmware in device.
ctre::phoenix::StatusCode ClearStickyFaults()
Clear the sticky faults in the device.
Definition CorePigeon2.hpp:2556
ctre::phoenix::StatusCode ClearStickyFault_LoopTimeSlow(units::time::second_t timeoutSeconds)
Clear sticky fault: Motion stack loop time was slower than expected.
Definition CorePigeon2.hpp:2774
StatusSignal< units::angular_velocity::degrees_per_second_t > & GetAngularVelocityZWorld(bool refresh=true)
The angular velocity (ω) of the Pigeon 2 about the Z axis with respect to the world frame.
ctre::phoenix::StatusCode ClearStickyFault_DataAcquiredLate()
Clear sticky fault: Motion stack data acquisition was slower than expected.
Definition CorePigeon2.hpp:2762
StatusSignal< bool > & GetStickyFault_SaturatedMagnetometer(bool refresh=true)
Magnetometer values are saturated.
StatusSignal< bool > & GetStickyFault_BootIntoMotion(bool refresh=true)
Motion Detected during bootup.
StatusSignal< units::angular_velocity::degrees_per_second_t > & GetAngularVelocityZDevice(bool refresh=true)
The angular velocity (ω) of the Pigeon 2 about the device's Z axis.
ctre::phoenix::StatusCode ClearStickyFault_SaturatedAccelerometer()
Clear sticky fault: Accelerometer values are saturated.
Definition CorePigeon2.hpp:2830
StatusSignal< int > & GetStickyFaultField(bool refresh=true)
Integer representing all (persistent) sticky fault flags reported by the device.
StatusSignal< bool > & GetNoMotionEnabled(bool refresh=true)
Whether the no-motion calibration feature is enabled.
ctre::phoenix::StatusCode ClearStickyFault_SaturatedGyroscope()
Clear sticky fault: Gyroscope values are saturated.
Definition CorePigeon2.hpp:2852
StatusSignal< units::angle::degree_t > & GetPitch(bool refresh=true)
Current reported pitch of the Pigeon2.
configs::Pigeon2Configurator & GetConfigurator()
Gets the configurator for this Pigeon2.
Definition CorePigeon2.hpp:1210
StatusSignal< bool > & GetFault_SaturatedGyroscope(bool refresh=true)
Gyroscope values are saturated.
ctre::phoenix::StatusCode ClearStickyFault_Hardware()
Clear sticky fault: Hardware fault occurred.
Definition CorePigeon2.hpp:2578
StatusSignal< units::angle::degree_t > & GetAccumGyroY(bool refresh=true)
The accumulated gyro about the Y axis without any sensor fusing.
ctre::phoenix::StatusCode SetYaw(units::angle::degree_t newValue, units::time::second_t timeoutSeconds)
The yaw to set the Pigeon2 to right now.
Definition CorePigeon2.hpp:2514
StatusSignal< bool > & GetStickyFault_Undervoltage(bool refresh=true)
Device supply voltage dropped to near brownout levels.
StatusSignal< units::voltage::volt_t > & GetSupplyVoltage(bool refresh=true)
Measured supply voltage to the Pigeon2.
configs::Pigeon2Configurator const & GetConfigurator() const
Gets the configurator for this Pigeon2.
Definition CorePigeon2.hpp:1222
StatusSignal< bool > & GetFault_BootupGyroscope(bool refresh=true)
Bootup checks failed: Gyroscope.
StatusSignal< units::acceleration::standard_gravity_t > & GetAccelerationX(bool refresh=true)
The acceleration measured by Pigeon2 in the X direction.
ctre::phoenix::StatusCode ClearStickyFault_SaturatedGyroscope(units::time::second_t timeoutSeconds)
Clear sticky fault: Gyroscope values are saturated.
Definition CorePigeon2.hpp:2841
StatusSignal< units::dimensionless::scalar_t > & GetQuatW(bool refresh=true)
The W component of the reported Quaternion.
StatusSignal< bool > & GetStickyFault_Hardware(bool refresh=true)
Hardware fault occurred.
StatusSignal< bool > & GetStickyFault_SaturatedAccelerometer(bool refresh=true)
Accelerometer values are saturated.
StatusSignal< units::angular_velocity::degrees_per_second_t > & GetAngularVelocityYDevice(bool refresh=true)
The angular velocity (ω) of the Pigeon 2 about the device's Y axis.
ctre::phoenix::StatusCode ClearStickyFaults(units::time::second_t timeoutSeconds)
Clear the sticky faults in the device.
Definition CorePigeon2.hpp:2541
ctre::phoenix::StatusCode ClearStickyFault_SaturatedMagnetometer(units::time::second_t timeoutSeconds)
Clear sticky fault: Magnetometer values are saturated.
Definition CorePigeon2.hpp:2797
ctre::phoenix::StatusCode ClearStickyFault_BootupGyroscope()
Clear sticky fault: Bootup checks failed: Gyroscope.
Definition CorePigeon2.hpp:2694
StatusSignal< bool > & GetFault_Undervoltage(bool refresh=true)
Device supply voltage dropped to near brownout levels.
ctre::phoenix::StatusCode ClearStickyFault_BootIntoMotion()
Clear sticky fault: Motion Detected during bootup.
Definition CorePigeon2.hpp:2738
ctre::phoenix::StatusCode ClearStickyFault_SaturatedMagnetometer()
Clear sticky fault: Magnetometer values are saturated.
Definition CorePigeon2.hpp:2808
StatusSignal< units::magnetic_field_strength::microtesla_t > & GetMagneticFieldX(bool refresh=true)
The biased magnitude of the magnetic field measured by the Pigeon 2 in the X direction.
StatusSignal< units::dimensionless::scalar_t > & GetNoMotionCount(bool refresh=true)
The number of times a no-motion event occurred, wraps at 15.
StatusSignal< units::time::second_t > & GetUpTime(bool refresh=true)
How long the Pigeon 2's been up in seconds, caps at 255 seconds.
ctre::phoenix::StatusCode ClearStickyFault_BootDuringEnable(units::time::second_t timeoutSeconds)
Clear sticky fault: Device boot while detecting the enable signal.
Definition CorePigeon2.hpp:2614
StatusSignal< int > & GetVersionMajor(bool refresh=true)
App Major Version number.
StatusSignal< bool > & GetFault_BootIntoMotion(bool refresh=true)
Motion Detected during bootup.
CorePigeon2(int deviceId, CANBus canbus)
Constructs a new Pigeon 2 sensor object.
Definition CorePigeon2.hpp:1199
ctre::phoenix::StatusCode ClearStickyFault_LoopTimeSlow()
Clear sticky fault: Motion stack loop time was slower than expected.
Definition CorePigeon2.hpp:2786
StatusSignal< units::magnetic_field_strength::microtesla_t > & GetMagneticFieldZ(bool refresh=true)
The biased magnitude of the magnetic field measured by the Pigeon 2 in the Z direction.
StatusSignal< units::dimensionless::scalar_t > & GetGravityVectorX(bool refresh=true)
The X component of the gravity vector.
StatusSignal< bool > & GetStickyFault_SaturatedGyroscope(bool refresh=true)
Gyroscope values are saturated.
StatusSignal< bool > & GetFault_BootupAccelerometer(bool refresh=true)
Bootup checks failed: Accelerometer.
StatusSignal< bool > & GetStickyFault_BootDuringEnable(bool refresh=true)
Device boot while detecting the enable signal.
StatusSignal< int > & GetFaultField(bool refresh=true)
Integer representing all fault flags reported by the device.
StatusSignal< bool > & GetFault_BootupMagnetometer(bool refresh=true)
Bootup checks failed: Magnetometer.
StatusSignal< units::temperature::celsius_t > & GetTemperature(bool refresh=true)
Temperature of the Pigeon 2.
ctre::phoenix::StatusCode ClearStickyFault_Undervoltage(units::time::second_t timeoutSeconds)
Clear sticky fault: Device supply voltage dropped to near brownout levels.
Definition CorePigeon2.hpp:2590
ctre::phoenix::StatusCode ClearStickyFault_BootupGyroscope(units::time::second_t timeoutSeconds)
Clear sticky fault: Bootup checks failed: Gyroscope.
Definition CorePigeon2.hpp:2683
ctre::phoenix::StatusCode ClearStickyFault_BootIntoMotion(units::time::second_t timeoutSeconds)
Clear sticky fault: Motion Detected during bootup.
Definition CorePigeon2.hpp:2727
StatusSignal< bool > & GetFault_UnlicensedFeatureInUse(bool refresh=true)
An unlicensed feature is in use, device may not behave as expected.
CorePigeon2(int deviceId, std::string canbus="")
Constructs a new Pigeon 2 sensor object.
StatusSignal< int > & GetVersionBugfix(bool refresh=true)
App Bugfix Version number.
ctre::phoenix::StatusCode ClearStickyFault_UnlicensedFeatureInUse(units::time::second_t timeoutSeconds)
Clear sticky fault: An unlicensed feature is in use, device may not behave as expected.
Definition CorePigeon2.hpp:2638
ctre::phoenix::StatusCode ClearStickyFault_Hardware(units::time::second_t timeoutSeconds)
Clear sticky fault: Hardware fault occurred.
Definition CorePigeon2.hpp:2567
StatusSignal< bool > & GetFault_BootDuringEnable(bool refresh=true)
Device boot while detecting the enable signal.
StatusSignal< bool > & GetStickyFault_LoopTimeSlow(bool refresh=true)
Motion stack loop time was slower than expected.
StatusSignal< bool > & GetFault_DataAcquiredLate(bool refresh=true)
Motion stack data acquisition was slower than expected.
StatusSignal< bool > & GetIsProLicensed(bool refresh=true)
Whether the device is Phoenix Pro licensed.
ctre::phoenix::StatusCode SetYaw(units::angle::degree_t newValue)
The yaw to set the Pigeon2 to right now.
Definition CorePigeon2.hpp:2526
StatusSignal< units::acceleration::standard_gravity_t > & GetAccelerationY(bool refresh=true)
The acceleration measured by Pigeon2 in the Y direction.
ctre::phoenix::StatusCode ClearStickyFault_BootDuringEnable()
Clear sticky fault: Device boot while detecting the enable signal.
Definition CorePigeon2.hpp:2626
StatusSignal< units::dimensionless::scalar_t > & GetQuatZ(bool refresh=true)
The Z component of the reported Quaternion.
StatusSignal< units::dimensionless::scalar_t > & GetGravityVectorZ(bool refresh=true)
The Z component of the gravity vector.
StatusSignal< units::magnetic_field_strength::microtesla_t > & GetRawMagneticFieldZ(bool refresh=true)
The raw magnitude of the magnetic field measured by the Pigeon 2 in the Z direction.
StatusSignal< int > & GetVersionBuild(bool refresh=true)
App Build Version number.
ctre::phoenix::StatusCode ClearStickyFault_BootupAccelerometer(units::time::second_t timeoutSeconds)
Clear sticky fault: Bootup checks failed: Accelerometer.
Definition CorePigeon2.hpp:2661
StatusSignal< units::magnetic_field_strength::microtesla_t > & GetMagneticFieldY(bool refresh=true)
The biased magnitude of the magnetic field measured by the Pigeon 2 in the Y direction.
StatusSignal< bool > & GetStickyFault_BootupAccelerometer(bool refresh=true)
Bootup checks failed: Accelerometer.
StatusSignal< units::angle::degree_t > & GetAccumGyroZ(bool refresh=true)
The accumulated gyro about the Z axis without any sensor fusing.
ctre::phoenix::StatusCode SetControl(const controls::ControlRequest &request)
Control device with generic control request object.
Definition CorePigeon2.hpp:2498
StatusSignal< units::magnetic_field_strength::microtesla_t > & GetRawMagneticFieldY(bool refresh=true)
The raw magnitude of the magnetic field measured by the Pigeon 2 in the Y direction.
StatusSignal< bool > & GetStickyFault_BootupMagnetometer(bool refresh=true)
Bootup checks failed: Magnetometer.
ctre::phoenix::StatusCode ClearStickyFault_SaturatedAccelerometer(units::time::second_t timeoutSeconds)
Clear sticky fault: Accelerometer values are saturated.
Definition CorePigeon2.hpp:2819
ctre::phoenix::StatusCode ClearStickyFault_BootupMagnetometer()
Clear sticky fault: Bootup checks failed: Magnetometer.
Definition CorePigeon2.hpp:2716
StatusSignal< bool > & GetStickyFault_DataAcquiredLate(bool refresh=true)
Motion stack data acquisition was slower than expected.
StatusSignal< units::angular_velocity::degrees_per_second_t > & GetAngularVelocityYWorld(bool refresh=true)
The angular velocity (ω) of the Pigeon 2 about the Y axis with respect to the world frame.
StatusSignal< int > & GetVersionMinor(bool refresh=true)
App Minor Version number.
StatusSignal< bool > & GetFault_Hardware(bool refresh=true)
Hardware fault occurred.
sim::Pigeon2SimState & GetSimState()
Get the simulation state for this device.
Definition CorePigeon2.hpp:1240
Class to control the state of a simulated hardware::Pigeon2.
Definition Pigeon2SimState.hpp:31
Status codes reported by APIs, including OK, warnings, and errors.
Definition StatusCodes.h:27
static constexpr int OK
No Error.
Definition StatusCodes.h:34
static constexpr int NotSupported
This is not supported.
Definition StatusCodes.h:652
Definition Diff_PositionDutyCycle_Position.hpp:15