ctre::phoenix6::hardware::Pigeon2 Class Reference

Class description for the Pigeon 2 IMU sensor that measures orientation. More...

#include <ctre/phoenix6/Pigeon2.hpp>

Inheritance diagram for ctre::phoenix6::hardware::Pigeon2:

Public Member Functions
	Pigeon2 (int deviceId, std::string canbus="")
	Constructs a new Pigeon 2 sensor object. More...
	~Pigeon2 ()
	Pigeon2 (Pigeon2 &&)=default
Pigeon2 &	operator= (Pigeon2 &&)=default
void	InitSendable (wpi::SendableBuilder &builder) override
void	Reset ()
	Resets the Pigeon 2 to a heading of zero. More...
double	GetAngle () const
	Returns the heading of the robot in degrees. More...
double	GetRate () const
	Returns the rate of rotation of the Pigeon 2. More...
frc::Rotation2d	GetRotation2d () const
	Returns the heading of the robot as a frc::Rotation2d. More...
frc::Rotation3d	GetRotation3d () const
	Returns the orientation of the robot as a frc::Rotation3d created from the quaternion signals. More...
Public Member Functions inherited from ctre::phoenix6::hardware::core::CorePigeon2
	CorePigeon2 (int deviceId, std::string canbus="")
	Constructs a new Pigeon 2 sensor object. More...
	CorePigeon2 (CorePigeon2 &&)=default
CorePigeon2 &	operator= (CorePigeon2 &&)=default
configs::Pigeon2Configurator &	GetConfigurator ()
	Gets the configurator for this Pigeon2. More...
configs::Pigeon2Configurator const &	GetConfigurator () const
	Gets the configurator for this Pigeon2. More...
sim::Pigeon2SimState &	GetSimState ()
	Get the simulation state for this device. More...
StatusSignal< int > &	GetVersionMajor ()
	App Major Version number. More...
StatusSignal< int > &	GetVersionMinor ()
	App Minor Version number. More...
StatusSignal< int > &	GetVersionBugfix ()
	App Bugfix Version number. More...
StatusSignal< int > &	GetVersionBuild ()
	App Build Version number. More...
StatusSignal< int > &	GetVersion ()
	Full Version. More...
StatusSignal< int > &	GetFaultField ()
	Integer representing all faults. More...
StatusSignal< int > &	GetStickyFaultField ()
	Integer representing all sticky faults. More...
StatusSignal< units::angle::degree_t > &	GetYaw ()
	Current reported yaw of the Pigeon2. More...
StatusSignal< units::angle::degree_t > &	GetPitch ()
	Current reported pitch of the Pigeon2. More...
StatusSignal< units::angle::degree_t > &	GetRoll ()
	Current reported roll of the Pigeon2. More...
StatusSignal< units::dimensionless::scalar_t > &	GetQuatW ()
	The W component of the reported Quaternion. More...
StatusSignal< units::dimensionless::scalar_t > &	GetQuatX ()
	The X component of the reported Quaternion. More...
StatusSignal< units::dimensionless::scalar_t > &	GetQuatY ()
	The Y component of the reported Quaternion. More...
StatusSignal< units::dimensionless::scalar_t > &	GetQuatZ ()
	The Z component of the reported Quaternion. More...
StatusSignal< units::dimensionless::scalar_t > &	GetGravityVectorX ()
	The X component of the gravity vector. More...
StatusSignal< units::dimensionless::scalar_t > &	GetGravityVectorY ()
	The Y component of the gravity vector. More...
StatusSignal< units::dimensionless::scalar_t > &	GetGravityVectorZ ()
	The Z component of the gravity vector. More...
StatusSignal< units::temperature::celsius_t > &	GetTemperature ()
	Temperature of the Pigeon 2. More...
StatusSignal< bool > &	GetNoMotionEnabled ()
	Whether the no-motion calibration feature is enabled. More...
StatusSignal< units::dimensionless::scalar_t > &	GetNoMotionCount ()
	The number of times a no-motion event occurred, wraps at 15. More...
StatusSignal< bool > &	GetTemperatureCompensationDisabled ()
	Whether the temperature-compensation feature is disabled. More...
StatusSignal< units::time::second_t > &	GetUpTime ()
	How long the Pigeon 2's been up in seconds, caps at 255 seconds. More...
StatusSignal< units::angle::degree_t > &	GetAccumGyroX ()
	The accumulated gyro about the X axis without any sensor fusing. More...
StatusSignal< units::angle::degree_t > &	GetAccumGyroY ()
	The accumulated gyro about the Y axis without any sensor fusing. More...
StatusSignal< units::angle::degree_t > &	GetAccumGyroZ ()
	The accumulated gyro about the Z axis without any sensor fusing. More...
StatusSignal< units::angular_velocity::degrees_per_second_t > &	GetAngularVelocityXWorld ()
	Angular Velocity world X. More...
StatusSignal< units::angular_velocity::degrees_per_second_t > &	GetAngularVelocityYWorld ()
	Angular Velocity Quaternion Y Component. More...
StatusSignal< units::angular_velocity::degrees_per_second_t > &	GetAngularVelocityZWorld ()
	Angular Velocity Quaternion Z Component. More...
StatusSignal< units::acceleration::standard_gravity_t > &	GetAccelerationX ()
	The acceleration measured by Pigeon2 in the X direction. More...
StatusSignal< units::acceleration::standard_gravity_t > &	GetAccelerationY ()
	The acceleration measured by Pigeon2 in the Y direction. More...
StatusSignal< units::acceleration::standard_gravity_t > &	GetAccelerationZ ()
	The acceleration measured by Pigeon2 in the Z direction. More...
StatusSignal< units::voltage::volt_t > &	GetSupplyVoltage ()
	Measured supply voltage to the Pigeon2. More...
StatusSignal< units::angular_velocity::degrees_per_second_t > &	GetAngularVelocityXDevice ()
	The angular velocity (ω) of the Pigeon 2 about the device's X axis. More...
StatusSignal< units::angular_velocity::degrees_per_second_t > &	GetAngularVelocityYDevice ()
	The angular velocity (ω) of the Pigeon 2 about the device's Y axis. More...
StatusSignal< units::angular_velocity::degrees_per_second_t > &	GetAngularVelocityZDevice ()
	The angular velocity (ω) of the Pigeon 2 about the device's Z axis. More...
StatusSignal< units::magnetic_field_strength::microtesla_t > &	GetMagneticFieldX ()
	The biased magnitude of the magnetic field measured by the Pigeon 2 in the X direction. More...
StatusSignal< units::magnetic_field_strength::microtesla_t > &	GetMagneticFieldY ()
	The biased magnitude of the magnetic field measured by the Pigeon 2 in the Y direction. More...
StatusSignal< units::magnetic_field_strength::microtesla_t > &	GetMagneticFieldZ ()
	The biased magnitude of the magnetic field measured by the Pigeon 2 in the Z direction. More...
StatusSignal< units::magnetic_field_strength::microtesla_t > &	GetRawMagneticFieldX ()
	The raw magnitude of the magnetic field measured by the Pigeon 2 in the X direction. More...
StatusSignal< units::magnetic_field_strength::microtesla_t > &	GetRawMagneticFieldY ()
	The raw magnitude of the magnetic field measured by the Pigeon 2 in the Y direction. More...
StatusSignal< units::magnetic_field_strength::microtesla_t > &	GetRawMagneticFieldZ ()
	The raw magnitude of the magnetic field measured by the Pigeon 2 in the Z direction. More...
StatusSignal< bool > &	GetIsProLicensed ()
	Whether the device is Phoenix Pro licensed. More...
StatusSignal< bool > &	GetFault_Hardware ()
	Hardware fault occurred. More...
StatusSignal< bool > &	GetStickyFault_Hardware ()
	Hardware fault occurred. More...
StatusSignal< bool > &	GetFault_Undervoltage ()
	Device supply voltage dropped to near brownout levels. More...
StatusSignal< bool > &	GetStickyFault_Undervoltage ()
	Device supply voltage dropped to near brownout levels. More...
StatusSignal< bool > &	GetFault_BootDuringEnable ()
	Device boot while detecting the enable signal. More...
StatusSignal< bool > &	GetStickyFault_BootDuringEnable ()
	Device boot while detecting the enable signal. More...
StatusSignal< bool > &	GetFault_UnlicensedFeatureInUse ()
	An unlicensed feature is in use, device may not behave as expected. More...
StatusSignal< bool > &	GetStickyFault_UnlicensedFeatureInUse ()
	An unlicensed feature is in use, device may not behave as expected. More...
StatusSignal< bool > &	GetFault_BootupAccelerometer ()
	Bootup checks failed: Accelerometer. More...
StatusSignal< bool > &	GetStickyFault_BootupAccelerometer ()
	Bootup checks failed: Accelerometer. More...
StatusSignal< bool > &	GetFault_BootupGyroscope ()
	Bootup checks failed: Gyroscope. More...
StatusSignal< bool > &	GetStickyFault_BootupGyroscope ()
	Bootup checks failed: Gyroscope. More...
StatusSignal< bool > &	GetFault_BootupMagnetometer ()
	Bootup checks failed: Magnetometer. More...
StatusSignal< bool > &	GetStickyFault_BootupMagnetometer ()
	Bootup checks failed: Magnetometer. More...
StatusSignal< bool > &	GetFault_BootIntoMotion ()
	Motion Detected during bootup. More...
StatusSignal< bool > &	GetStickyFault_BootIntoMotion ()
	Motion Detected during bootup. More...
StatusSignal< bool > &	GetFault_DataAcquiredLate ()
	Motion stack data acquisition was slower than expected. More...
StatusSignal< bool > &	GetStickyFault_DataAcquiredLate ()
	Motion stack data acquisition was slower than expected. More...
StatusSignal< bool > &	GetFault_LoopTimeSlow ()
	Motion stack loop time was slower than expected. More...
StatusSignal< bool > &	GetStickyFault_LoopTimeSlow ()
	Motion stack loop time was slower than expected. More...
StatusSignal< bool > &	GetFault_SaturatedMagnetometer ()
	Magnetometer values are saturated. More...
StatusSignal< bool > &	GetStickyFault_SaturatedMagnetometer ()
	Magnetometer values are saturated. More...
StatusSignal< bool > &	GetFault_SaturatedAccelerometer ()
	Accelerometer values are saturated. More...
StatusSignal< bool > &	GetStickyFault_SaturatedAccelerometer ()
	Accelerometer values are saturated. More...
StatusSignal< bool > &	GetFault_SaturatedGyroscope ()
	Gyroscope values are saturated. More...
StatusSignal< bool > &	GetStickyFault_SaturatedGyroscope ()
	Gyroscope values are saturated. More...
ctre::phoenix::StatusCode	SetControl (controls::ControlRequest &request)
	Control motor with generic control request object. More...
ctre::phoenix::StatusCode	SetControl (controls::ControlRequest &&request)
	Control motor with generic control request object. More...
ctre::phoenix::StatusCode	SetYaw (units::angle::degree_t newValue, units::time::second_t timeoutSeconds)
	The yaw to set the Pigeon2 to right now. More...
ctre::phoenix::StatusCode	SetYaw (units::angle::degree_t newValue)
	The yaw to set the Pigeon2 to right now. More...
ctre::phoenix::StatusCode	ClearStickyFaults (units::time::second_t timeoutSeconds)
	Clear the sticky faults in the device. More...
ctre::phoenix::StatusCode	ClearStickyFaults ()
	Clear the sticky faults in the device. More...
ctre::phoenix::StatusCode	ClearStickyFault_Hardware (units::time::second_t timeoutSeconds)
	Clear sticky fault: Hardware fault occurred. More...
ctre::phoenix::StatusCode	ClearStickyFault_Hardware ()
	Clear sticky fault: Hardware fault occurred. More...
ctre::phoenix::StatusCode	ClearStickyFault_Undervoltage (units::time::second_t timeoutSeconds)
	Clear sticky fault: Device supply voltage dropped to near brownout levels. More...
ctre::phoenix::StatusCode	ClearStickyFault_Undervoltage ()
	Clear sticky fault: Device supply voltage dropped to near brownout levels. More...
ctre::phoenix::StatusCode	ClearStickyFault_BootDuringEnable (units::time::second_t timeoutSeconds)
	Clear sticky fault: Device boot while detecting the enable signal. More...
ctre::phoenix::StatusCode	ClearStickyFault_BootDuringEnable ()
	Clear sticky fault: Device boot while detecting the enable signal. More...
ctre::phoenix::StatusCode	ClearStickyFault_BootupAccelerometer (units::time::second_t timeoutSeconds)
	Clear sticky fault: Bootup checks failed: Accelerometer. More...
ctre::phoenix::StatusCode	ClearStickyFault_BootupAccelerometer ()
	Clear sticky fault: Bootup checks failed: Accelerometer. More...
ctre::phoenix::StatusCode	ClearStickyFault_BootupGyroscope (units::time::second_t timeoutSeconds)
	Clear sticky fault: Bootup checks failed: Gyroscope. More...
ctre::phoenix::StatusCode	ClearStickyFault_BootupGyroscope ()
	Clear sticky fault: Bootup checks failed: Gyroscope. More...
ctre::phoenix::StatusCode	ClearStickyFault_BootupMagnetometer (units::time::second_t timeoutSeconds)
	Clear sticky fault: Bootup checks failed: Magnetometer. More...
ctre::phoenix::StatusCode	ClearStickyFault_BootupMagnetometer ()
	Clear sticky fault: Bootup checks failed: Magnetometer. More...
ctre::phoenix::StatusCode	ClearStickyFault_BootIntoMotion (units::time::second_t timeoutSeconds)
	Clear sticky fault: Motion Detected during bootup. More...
ctre::phoenix::StatusCode	ClearStickyFault_BootIntoMotion ()
	Clear sticky fault: Motion Detected during bootup. More...
ctre::phoenix::StatusCode	ClearStickyFault_DataAcquiredLate (units::time::second_t timeoutSeconds)
	Clear sticky fault: Motion stack data acquisition was slower than expected. More...
ctre::phoenix::StatusCode	ClearStickyFault_DataAcquiredLate ()
	Clear sticky fault: Motion stack data acquisition was slower than expected. More...
ctre::phoenix::StatusCode	ClearStickyFault_LoopTimeSlow (units::time::second_t timeoutSeconds)
	Clear sticky fault: Motion stack loop time was slower than expected. More...
ctre::phoenix::StatusCode	ClearStickyFault_LoopTimeSlow ()
	Clear sticky fault: Motion stack loop time was slower than expected. More...
ctre::phoenix::StatusCode	ClearStickyFault_SaturatedMagnetometer (units::time::second_t timeoutSeconds)
	Clear sticky fault: Magnetometer values are saturated. More...
ctre::phoenix::StatusCode	ClearStickyFault_SaturatedMagnetometer ()
	Clear sticky fault: Magnetometer values are saturated. More...
ctre::phoenix::StatusCode	ClearStickyFault_SaturatedAccelerometer (units::time::second_t timeoutSeconds)
	Clear sticky fault: Accelerometer values are saturated. More...
ctre::phoenix::StatusCode	ClearStickyFault_SaturatedAccelerometer ()
	Clear sticky fault: Accelerometer values are saturated. More...
ctre::phoenix::StatusCode	ClearStickyFault_SaturatedGyroscope (units::time::second_t timeoutSeconds)
	Clear sticky fault: Gyroscope values are saturated. More...
ctre::phoenix::StatusCode	ClearStickyFault_SaturatedGyroscope ()
	Clear sticky fault: Gyroscope values are saturated. More...
Public Member Functions inherited from ctre::phoenix6::hardware::ParentDevice
	ParentDevice (int deviceID, std::string model, std::string canbus)
virtual	~ParentDevice ()=default
	ParentDevice (ParentDevice &&)=default
ParentDevice &	operator= (ParentDevice &&)=default
int	GetDeviceID () const
const std::string &	GetNetwork () const
uint64_t	GetDeviceHash () const
	Gets a number unique for this device's hardware type and ID. More...
std::shared_ptr< const controls::ControlRequest >	GetAppliedControl () const
	Get the latest applied control. More...
std::shared_ptr< controls::ControlRequest >	GetAppliedControl ()
	Get the latest applied control. More...
bool	HasResetOccurred ()
std::function< bool()>	GetResetOccurredChecker () const
StatusSignal< double > &	GetGenericSignal (uint32_t signal)
	This is a reserved routine for internal testing. More...
ctre::phoenix::StatusCode	OptimizeBusUtilization (units::frequency::hertz_t optimizedFreqHz=0_Hz, units::time::second_t timeoutSeconds=50_ms)
	Optimizes the device's bus utilization by reducing the update frequencies of its status signals. More...

Additional Inherited Members
Static Public Member Functions inherited from ctre::phoenix6::hardware::ParentDevice
template<typename... Devices, typename = std::enable_if_t<is_all_device_v<Devices...>>>
static ctre::phoenix::StatusCode	OptimizeBusUtilizationForAll (Devices &... devices)
	Optimizes the bus utilization of the provided devices by reducing the update frequencies of their status signals. More...
static ctre::phoenix::StatusCode	OptimizeBusUtilizationForAll (const std::vector< ParentDevice * > &devices)
	Optimizes the bus utilization of the provided devices by reducing the update frequencies of their status signals. More...
template<size_t N>
static ctre::phoenix::StatusCode	OptimizeBusUtilizationForAll (const std::array< ParentDevice *, N > &devices)
	Optimizes the bus utilization of the provided devices by reducing the update frequencies of their status signals. More...
template<typename... Devices, typename = std::enable_if_t<is_all_device_v<Devices...>>>
static ctre::phoenix::StatusCode	OptimizeBusUtilizationForAll (units::frequency::hertz_t optimizedFreqHz, Devices &... devices)
	Optimizes the bus utilization of the provided devices by reducing the update frequencies of their status signals. More...
static ctre::phoenix::StatusCode	OptimizeBusUtilizationForAll (units::frequency::hertz_t optimizedFreqHz, const std::vector< ParentDevice * > &devices)
	Optimizes the bus utilization of the provided devices by reducing the update frequencies of their status signals. More...
template<size_t N>
static ctre::phoenix::StatusCode	OptimizeBusUtilizationForAll (units::frequency::hertz_t optimizedFreqHz, const std::array< ParentDevice *, N > &devices)
	Optimizes the bus utilization of the provided devices by reducing the update frequencies of their status signals. More...
Protected Member Functions inherited from ctre::phoenix6::hardware::ParentDevice
virtual ctre::phoenix::StatusCode	SetControlPrivate (controls::ControlRequest &request)
template<typename T >
StatusSignal< T > &	LookupStatusSignal (uint16_t spn, std::string signalName, bool reportOnConstruction)
template<typename T >
StatusSignal< T > &	LookupStatusSignal (uint16_t spn, uint16_t mapper_iter, std::function< std::map< int, StatusSignal< T > >()> map_filler, std::string signalName, bool reportOnConstruction)
template<typename T , typename U >
StatusSignal< T >	LookupDimensionlessStatusSignal (uint16_t spn, std::string signalName)
	Returns a unitless version of the StatusSignal by value. More...
Protected Attributes inherited from ctre::phoenix6::hardware::ParentDevice
DeviceIdentifier	deviceIdentifier
Static Protected Attributes inherited from ctre::phoenix6::hardware::ParentDevice
static controls::EmptyControl	_emptyControl {}
template<typename... Devices>
static constexpr bool	is_all_device_v = is_all_device<Devices...>::value
	Whether all types passed in are subclasses of ParentDevice. More...

Detailed Description

Class description for the Pigeon 2 IMU sensor that measures orientation.

Constructor & Destructor Documentation

Pigeon2() [1/2]

ctre::phoenix6::hardware::Pigeon2::Pigeon2	(	int	deviceId,
		std::string	canbus = ""
	)

Constructs a new Pigeon 2 sensor object.

Parameters

deviceId	ID of the device, as configured in Phoenix Tuner.
canbus	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

~Pigeon2()

ctre::phoenix6::hardware::Pigeon2::~Pigeon2

(

)

Pigeon2() [2/2]

ctre::phoenix6::hardware::Pigeon2::Pigeon2 ( Pigeon2 &&  )

default

Member Function Documentation

GetAngle()

double ctre::phoenix6::hardware::Pigeon2::GetAngle

(

)

const

Returns the heading of the robot in degrees.

The angle increases as the Pigeon 2 turns clockwise when looked at from the top. This follows the NED 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 in degrees

GetRate()

double ctre::phoenix6::hardware::Pigeon2::GetRate

(

)

const

Returns the rate of rotation of the Pigeon 2.

The rate is positive as the Pigeon 2 turns clockwise when looked at from the top.

Returns

The current rate in degrees per second

GetRotation2d()

frc::Rotation2d ctre::phoenix6::hardware::Pigeon2::GetRotation2d

(

)

const

Returns the heading of the robot as a frc::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 frc::Rotation2d

GetRotation3d()

frc::Rotation3d ctre::phoenix6::hardware::Pigeon2::GetRotation3d

(

)

const

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

Returns

The current orientation of the robot as a frc::Rotation3d

InitSendable()

void ctre::phoenix6::hardware::Pigeon2::InitSendable ( wpi::SendableBuilder &  builder )

override

operator=()

Pigeon2 & ctre::phoenix6::hardware::Pigeon2::operator= ( Pigeon2 &&  )

default

Reset()

void ctre::phoenix6::hardware::Pigeon2::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.

---

The documentation for this class was generated from the following file:

• ctre/phoenix6/Pigeon2.hpp