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

#include <ctre/phoenix6/core/CorePigeon2.hpp>

Inheritance diagram for ctre::phoenix6::hardware::core::CorePigeon2:

Public Member Functions
	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

◆ CorePigeon2() [1/2]

ctre::phoenix6::hardware::core::CorePigeon2::CorePigeon2	(	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

◆ CorePigeon2() [2/2]

ctre::phoenix6::hardware::core::CorePigeon2::CorePigeon2 ( CorePigeon2 && )

default

Member Function Documentation

◆ ClearStickyFault_BootDuringEnable() [1/2]

ctre::phoenix::StatusCode ctre::phoenix6::hardware::core::CorePigeon2::ClearStickyFault_BootDuringEnable ( )

inline

Clear sticky fault: Device boot while detecting the enable signal.

This will wait up to 0.050 seconds (50ms) by default.

Returns: StatusCode of the set command

◆ ClearStickyFault_BootDuringEnable() [2/2]

ctre::phoenix::StatusCode ctre::phoenix6::hardware::core::CorePigeon2::ClearStickyFault_BootDuringEnable ( units::time::second_t timeoutSeconds )

inline

Clear sticky fault: Device boot while detecting the enable signal.

Parameters

timeoutSeconds Maximum time to wait up to in seconds.

Returns: StatusCode of the set command

◆ ClearStickyFault_BootIntoMotion() [1/2]

ctre::phoenix::StatusCode ctre::phoenix6::hardware::core::CorePigeon2::ClearStickyFault_BootIntoMotion ( )

inline

Clear sticky fault: Motion Detected during bootup.

This will wait up to 0.050 seconds (50ms) by default.

Returns: StatusCode of the set command

◆ ClearStickyFault_BootIntoMotion() [2/2]

ctre::phoenix::StatusCode ctre::phoenix6::hardware::core::CorePigeon2::ClearStickyFault_BootIntoMotion ( units::time::second_t timeoutSeconds )

inline

Clear sticky fault: Motion Detected during bootup.

Parameters

timeoutSeconds Maximum time to wait up to in seconds.

Returns: StatusCode of the set command

◆ ClearStickyFault_BootupAccelerometer() [1/2]

ctre::phoenix::StatusCode ctre::phoenix6::hardware::core::CorePigeon2::ClearStickyFault_BootupAccelerometer ( )

inline

Clear sticky fault: Bootup checks failed: Accelerometer.

This will wait up to 0.050 seconds (50ms) by default.

Returns: StatusCode of the set command

◆ ClearStickyFault_BootupAccelerometer() [2/2]

ctre::phoenix::StatusCode ctre::phoenix6::hardware::core::CorePigeon2::ClearStickyFault_BootupAccelerometer ( units::time::second_t timeoutSeconds )

inline

Clear sticky fault: Bootup checks failed: Accelerometer.

Parameters

timeoutSeconds Maximum time to wait up to in seconds.

Returns: StatusCode of the set command

◆ ClearStickyFault_BootupGyroscope() [1/2]

ctre::phoenix::StatusCode ctre::phoenix6::hardware::core::CorePigeon2::ClearStickyFault_BootupGyroscope ( )

inline

Clear sticky fault: Bootup checks failed: Gyroscope.

This will wait up to 0.050 seconds (50ms) by default.

Returns: StatusCode of the set command

◆ ClearStickyFault_BootupGyroscope() [2/2]

ctre::phoenix::StatusCode ctre::phoenix6::hardware::core::CorePigeon2::ClearStickyFault_BootupGyroscope ( units::time::second_t timeoutSeconds )

inline

Clear sticky fault: Bootup checks failed: Gyroscope.

Parameters

timeoutSeconds Maximum time to wait up to in seconds.

Returns: StatusCode of the set command

◆ ClearStickyFault_BootupMagnetometer() [1/2]

ctre::phoenix::StatusCode ctre::phoenix6::hardware::core::CorePigeon2::ClearStickyFault_BootupMagnetometer ( )

inline

Clear sticky fault: Bootup checks failed: Magnetometer.

This will wait up to 0.050 seconds (50ms) by default.

Returns: StatusCode of the set command

◆ ClearStickyFault_BootupMagnetometer() [2/2]

ctre::phoenix::StatusCode ctre::phoenix6::hardware::core::CorePigeon2::ClearStickyFault_BootupMagnetometer ( units::time::second_t timeoutSeconds )

inline

Clear sticky fault: Bootup checks failed: Magnetometer.

Parameters

timeoutSeconds Maximum time to wait up to in seconds.

Returns: StatusCode of the set command

◆ ClearStickyFault_DataAcquiredLate() [1/2]

ctre::phoenix::StatusCode ctre::phoenix6::hardware::core::CorePigeon2::ClearStickyFault_DataAcquiredLate ( )

inline

Clear sticky fault: Motion stack data acquisition was slower than expected.

This will wait up to 0.050 seconds (50ms) by default.

Returns: StatusCode of the set command

◆ ClearStickyFault_DataAcquiredLate() [2/2]

ctre::phoenix::StatusCode ctre::phoenix6::hardware::core::CorePigeon2::ClearStickyFault_DataAcquiredLate ( units::time::second_t timeoutSeconds )

inline

Clear sticky fault: Motion stack data acquisition was slower than expected.

Parameters

timeoutSeconds Maximum time to wait up to in seconds.

Returns: StatusCode of the set command

◆ ClearStickyFault_Hardware() [1/2]

ctre::phoenix::StatusCode ctre::phoenix6::hardware::core::CorePigeon2::ClearStickyFault_Hardware ( )

inline

Clear sticky fault: Hardware fault occurred.

This will wait up to 0.050 seconds (50ms) by default.

Returns: StatusCode of the set command

◆ ClearStickyFault_Hardware() [2/2]

ctre::phoenix::StatusCode ctre::phoenix6::hardware::core::CorePigeon2::ClearStickyFault_Hardware ( units::time::second_t timeoutSeconds )

inline

Clear sticky fault: Hardware fault occurred.

Parameters

timeoutSeconds Maximum time to wait up to in seconds.

Returns: StatusCode of the set command

◆ ClearStickyFault_LoopTimeSlow() [1/2]

ctre::phoenix::StatusCode ctre::phoenix6::hardware::core::CorePigeon2::ClearStickyFault_LoopTimeSlow ( )

inline

Clear sticky fault: Motion stack loop time was slower than expected.

This will wait up to 0.050 seconds (50ms) by default.

Returns: StatusCode of the set command

◆ ClearStickyFault_LoopTimeSlow() [2/2]

ctre::phoenix::StatusCode ctre::phoenix6::hardware::core::CorePigeon2::ClearStickyFault_LoopTimeSlow ( units::time::second_t timeoutSeconds )

inline

Clear sticky fault: Motion stack loop time was slower than expected.

Parameters

timeoutSeconds Maximum time to wait up to in seconds.

Returns: StatusCode of the set command

◆ ClearStickyFault_SaturatedAccelerometer() [1/2]

ctre::phoenix::StatusCode ctre::phoenix6::hardware::core::CorePigeon2::ClearStickyFault_SaturatedAccelerometer ( )

inline

Clear sticky fault: Accelerometer values are saturated.

This will wait up to 0.050 seconds (50ms) by default.

Returns: StatusCode of the set command

◆ ClearStickyFault_SaturatedAccelerometer() [2/2]

ctre::phoenix::StatusCode ctre::phoenix6::hardware::core::CorePigeon2::ClearStickyFault_SaturatedAccelerometer ( units::time::second_t timeoutSeconds )

inline

Clear sticky fault: Accelerometer values are saturated.

Parameters

timeoutSeconds Maximum time to wait up to in seconds.

Returns: StatusCode of the set command

◆ ClearStickyFault_SaturatedGyroscope() [1/2]

ctre::phoenix::StatusCode ctre::phoenix6::hardware::core::CorePigeon2::ClearStickyFault_SaturatedGyroscope ( )

inline

Clear sticky fault: Gyroscope values are saturated.

This will wait up to 0.050 seconds (50ms) by default.

Returns: StatusCode of the set command

◆ ClearStickyFault_SaturatedGyroscope() [2/2]

ctre::phoenix::StatusCode ctre::phoenix6::hardware::core::CorePigeon2::ClearStickyFault_SaturatedGyroscope ( units::time::second_t timeoutSeconds )

inline

Clear sticky fault: Gyroscope values are saturated.

Parameters

timeoutSeconds Maximum time to wait up to in seconds.

Returns: StatusCode of the set command

◆ ClearStickyFault_SaturatedMagnetometer() [1/2]

ctre::phoenix::StatusCode ctre::phoenix6::hardware::core::CorePigeon2::ClearStickyFault_SaturatedMagnetometer ( )

inline

Clear sticky fault: Magnetometer values are saturated.

This will wait up to 0.050 seconds (50ms) by default.

Returns: StatusCode of the set command

◆ ClearStickyFault_SaturatedMagnetometer() [2/2]

ctre::phoenix::StatusCode ctre::phoenix6::hardware::core::CorePigeon2::ClearStickyFault_SaturatedMagnetometer ( units::time::second_t timeoutSeconds )

inline

Clear sticky fault: Magnetometer values are saturated.

Parameters

timeoutSeconds Maximum time to wait up to in seconds.

Returns: StatusCode of the set command

◆ ClearStickyFault_Undervoltage() [1/2]

ctre::phoenix::StatusCode ctre::phoenix6::hardware::core::CorePigeon2::ClearStickyFault_Undervoltage ( )

inline

Clear sticky fault: Device supply voltage dropped to near brownout levels.

This will wait up to 0.050 seconds (50ms) by default.

Returns: StatusCode of the set command

◆ ClearStickyFault_Undervoltage() [2/2]

ctre::phoenix::StatusCode ctre::phoenix6::hardware::core::CorePigeon2::ClearStickyFault_Undervoltage ( units::time::second_t timeoutSeconds )

inline

Clear sticky fault: Device supply voltage dropped to near brownout levels.

Parameters

timeoutSeconds Maximum time to wait up to in seconds.

Returns: StatusCode of the set command

◆ ClearStickyFaults() [1/2]

ctre::phoenix::StatusCode ctre::phoenix6::hardware::core::CorePigeon2::ClearStickyFaults ( )

inline

Clear the sticky faults in the device.

This typically has no impact on the device functionality. Instead, it just clears telemetry faults that are accessible via API and Tuner Self-Test.

This will wait up to 0.050 seconds (50ms) by default.

Returns: StatusCode of the set command

◆ ClearStickyFaults() [2/2]

ctre::phoenix::StatusCode ctre::phoenix6::hardware::core::CorePigeon2::ClearStickyFaults ( units::time::second_t timeoutSeconds )

inline

Clear the sticky faults in the device.

This typically has no impact on the device functionality. Instead, it just clears telemetry faults that are accessible via API and Tuner Self-Test.

Parameters

timeoutSeconds Maximum time to wait up to in seconds.

Returns: StatusCode of the set command

◆ GetAccelerationX()

StatusSignal< units::acceleration::standard_gravity_t > & ctre::phoenix6::hardware::core::CorePigeon2::GetAccelerationX ( )

The acceleration measured by Pigeon2 in the X direction.

This value includes the acceleration due to gravity. If this is undesirable, get the gravity vector and subtract out the contribution in this direction.

Minimum Value: -2.0
Maximum Value: 1.99993896484375
Default Value: 0
Units: g

Default Rates:

CAN 2.0: 10.0 Hz
CAN FD: 100.0 Hz (TimeSynced with Pro)

This refreshes and returns a cached StatusSignal object.

Returns: AccelerationX Status Signal Object

◆ GetAccelerationY()

StatusSignal< units::acceleration::standard_gravity_t > & ctre::phoenix6::hardware::core::CorePigeon2::GetAccelerationY ( )

The acceleration measured by Pigeon2 in the Y direction.

This value includes the acceleration due to gravity. If this is undesirable, get the gravity vector and subtract out the contribution in this direction.

Minimum Value: -2.0
Maximum Value: 1.99993896484375
Default Value: 0
Units: g

Default Rates:

CAN 2.0: 10.0 Hz
CAN FD: 100.0 Hz (TimeSynced with Pro)

This refreshes and returns a cached StatusSignal object.

Returns: AccelerationY Status Signal Object

◆ GetAccelerationZ()

StatusSignal< units::acceleration::standard_gravity_t > & ctre::phoenix6::hardware::core::CorePigeon2::GetAccelerationZ ( )

The acceleration measured by Pigeon2 in the Z direction.

This value includes the acceleration due to gravity. If this is undesirable, get the gravity vector and subtract out the contribution in this direction.

Minimum Value: -2.0
Maximum Value: 1.99993896484375
Default Value: 0
Units: g

Default Rates:

CAN 2.0: 10.0 Hz
CAN FD: 100.0 Hz (TimeSynced with Pro)

This refreshes and returns a cached StatusSignal object.

Returns: AccelerationZ Status Signal Object

◆ GetAccumGyroX()

StatusSignal< units::angle::degree_t > & ctre::phoenix6::hardware::core::CorePigeon2::GetAccumGyroX ( )

The accumulated gyro about the X axis without any sensor fusing.

Minimum Value: -23040.0
Maximum Value: 23039.9560546875
Default Value: 0
Units: deg

Default Rates:

CAN 2.0: 4.0 Hz
CAN FD: 100.0 Hz (TimeSynced with Pro)

This refreshes and returns a cached StatusSignal object.

Returns: AccumGyroX Status Signal Object

◆ GetAccumGyroY()

StatusSignal< units::angle::degree_t > & ctre::phoenix6::hardware::core::CorePigeon2::GetAccumGyroY ( )

The accumulated gyro about the Y axis without any sensor fusing.

Minimum Value: -23040.0
Maximum Value: 23039.9560546875
Default Value: 0
Units: deg

Default Rates:

CAN 2.0: 4.0 Hz
CAN FD: 100.0 Hz (TimeSynced with Pro)

This refreshes and returns a cached StatusSignal object.

Returns: AccumGyroY Status Signal Object

◆ GetAccumGyroZ()

StatusSignal< units::angle::degree_t > & ctre::phoenix6::hardware::core::CorePigeon2::GetAccumGyroZ ( )

The accumulated gyro about the Z axis without any sensor fusing.

Minimum Value: -23040.0
Maximum Value: 23039.9560546875
Default Value: 0
Units: deg

Default Rates:

CAN 2.0: 4.0 Hz
CAN FD: 100.0 Hz (TimeSynced with Pro)

This refreshes and returns a cached StatusSignal object.

Returns: AccumGyroZ Status Signal Object

◆ GetAngularVelocityXDevice()

StatusSignal< units::angular_velocity::degrees_per_second_t > & ctre::phoenix6::hardware::core::CorePigeon2::GetAngularVelocityXDevice ( )

The angular velocity (ω) of the Pigeon 2 about the device's X axis.

This value is not mount-calibrated

Minimum Value: -1998.048780487805
Maximum Value: 1997.987804878049
Default Value: 0
Units: dps

Default Rates:

CAN: 4.0 Hz

This refreshes and returns a cached StatusSignal object.

Returns: AngularVelocityXDevice Status Signal Object

◆ GetAngularVelocityXWorld()

StatusSignal< units::angular_velocity::degrees_per_second_t > & ctre::phoenix6::hardware::core::CorePigeon2::GetAngularVelocityXWorld ( )

Angular Velocity world X.

This is the X component of the angular velocity with respect to the world frame and is mount-calibrated.

Minimum Value: -2048.0
Maximum Value: 2047.99609375
Default Value: 0
Units: dps

Default Rates:

CAN 2.0: 10.0 Hz
CAN FD: 100.0 Hz (TimeSynced with Pro)

This refreshes and returns a cached StatusSignal object.

Returns: AngularVelocityXWorld Status Signal Object

◆ GetAngularVelocityYDevice()

StatusSignal< units::angular_velocity::degrees_per_second_t > & ctre::phoenix6::hardware::core::CorePigeon2::GetAngularVelocityYDevice ( )

The angular velocity (ω) of the Pigeon 2 about the device's Y axis.

This value is not mount-calibrated

Minimum Value: -1998.048780487805
Maximum Value: 1997.987804878049
Default Value: 0
Units: dps

Default Rates:

CAN: 4.0 Hz

This refreshes and returns a cached StatusSignal object.

Returns: AngularVelocityYDevice Status Signal Object

◆ GetAngularVelocityYWorld()

StatusSignal< units::angular_velocity::degrees_per_second_t > & ctre::phoenix6::hardware::core::CorePigeon2::GetAngularVelocityYWorld ( )

Angular Velocity Quaternion Y Component.

This is the Y component of the angular velocity with respect to the world frame and is mount-calibrated.

Minimum Value: -2048.0
Maximum Value: 2047.99609375
Default Value: 0
Units: dps

Default Rates:

CAN 2.0: 10.0 Hz
CAN FD: 100.0 Hz (TimeSynced with Pro)

This refreshes and returns a cached StatusSignal object.

Returns: AngularVelocityYWorld Status Signal Object

◆ GetAngularVelocityZDevice()

StatusSignal< units::angular_velocity::degrees_per_second_t > & ctre::phoenix6::hardware::core::CorePigeon2::GetAngularVelocityZDevice ( )

The angular velocity (ω) of the Pigeon 2 about the device's Z axis.

This value is not mount-calibrated

Minimum Value: -1998.048780487805
Maximum Value: 1997.987804878049
Default Value: 0
Units: dps

Default Rates:

CAN: 4.0 Hz

This refreshes and returns a cached StatusSignal object.

Returns: AngularVelocityZDevice Status Signal Object

◆ GetAngularVelocityZWorld()

StatusSignal< units::angular_velocity::degrees_per_second_t > & ctre::phoenix6::hardware::core::CorePigeon2::GetAngularVelocityZWorld ( )

Angular Velocity Quaternion Z Component.

This is the Z component of the angular velocity with respect to the world frame and is mount-calibrated.

Minimum Value: -2048.0
Maximum Value: 2047.99609375
Default Value: 0
Units: dps

Default Rates:

CAN 2.0: 10.0 Hz
CAN FD: 100.0 Hz (TimeSynced with Pro)

This refreshes and returns a cached StatusSignal object.

Returns: AngularVelocityZWorld Status Signal Object

◆ GetConfigurator() [1/2]

configs::Pigeon2Configurator & ctre::phoenix6::hardware::core::CorePigeon2::GetConfigurator ( )

inline

Gets the configurator for this Pigeon2.

Gets the configurator for this Pigeon2

Returns: Configurator for this Pigeon2

◆ GetConfigurator() [2/2]

configs::Pigeon2Configurator const & ctre::phoenix6::hardware::core::CorePigeon2::GetConfigurator ( ) const

inline

Gets the configurator for this Pigeon2.

Gets the configurator for this Pigeon2

Returns: Configurator for this Pigeon2

◆ GetFault_BootDuringEnable()

StatusSignal< bool > & ctre::phoenix6::hardware::core::CorePigeon2::GetFault_BootDuringEnable ( )

Device boot while detecting the enable signal.

Default Value: False

Default Rates:

CAN: 4.0 Hz

This refreshes and returns a cached StatusSignal object.

Returns: Fault_BootDuringEnable Status Signal Object

◆ GetFault_BootIntoMotion()

StatusSignal< bool > & ctre::phoenix6::hardware::core::CorePigeon2::GetFault_BootIntoMotion ( )

Motion Detected during bootup.

Default Value: False

Default Rates:

CAN: 4.0 Hz

This refreshes and returns a cached StatusSignal object.

Returns: Fault_BootIntoMotion Status Signal Object

◆ GetFault_BootupAccelerometer()

StatusSignal< bool > & ctre::phoenix6::hardware::core::CorePigeon2::GetFault_BootupAccelerometer ( )

Bootup checks failed: Accelerometer.

Default Value: False

Default Rates:

CAN: 4.0 Hz

This refreshes and returns a cached StatusSignal object.

Returns: Fault_BootupAccelerometer Status Signal Object

◆ GetFault_BootupGyroscope()

StatusSignal< bool > & ctre::phoenix6::hardware::core::CorePigeon2::GetFault_BootupGyroscope ( )

Bootup checks failed: Gyroscope.

Default Value: False

Default Rates:

CAN: 4.0 Hz

This refreshes and returns a cached StatusSignal object.

Returns: Fault_BootupGyroscope Status Signal Object

◆ GetFault_BootupMagnetometer()

StatusSignal< bool > & ctre::phoenix6::hardware::core::CorePigeon2::GetFault_BootupMagnetometer ( )

Bootup checks failed: Magnetometer.

Default Value: False

Default Rates:

CAN: 4.0 Hz

This refreshes and returns a cached StatusSignal object.

Returns: Fault_BootupMagnetometer Status Signal Object

◆ GetFault_DataAcquiredLate()

StatusSignal< bool > & ctre::phoenix6::hardware::core::CorePigeon2::GetFault_DataAcquiredLate ( )

Motion stack data acquisition was slower than expected.

Default Value: False

Default Rates:

CAN: 4.0 Hz

This refreshes and returns a cached StatusSignal object.

Returns: Fault_DataAcquiredLate Status Signal Object

◆ GetFault_Hardware()

StatusSignal< bool > & ctre::phoenix6::hardware::core::CorePigeon2::GetFault_Hardware ( )

Hardware fault occurred.

Default Value: False

Default Rates:

CAN: 4.0 Hz

This refreshes and returns a cached StatusSignal object.

Returns: Fault_Hardware Status Signal Object

◆ GetFault_LoopTimeSlow()

StatusSignal< bool > & ctre::phoenix6::hardware::core::CorePigeon2::GetFault_LoopTimeSlow ( )

Motion stack loop time was slower than expected.

Default Value: False

Default Rates:

CAN: 4.0 Hz

This refreshes and returns a cached StatusSignal object.

Returns: Fault_LoopTimeSlow Status Signal Object

◆ GetFault_SaturatedAccelerometer()

StatusSignal< bool > & ctre::phoenix6::hardware::core::CorePigeon2::GetFault_SaturatedAccelerometer ( )

Accelerometer values are saturated.

Default Value: False

Default Rates:

CAN: 4.0 Hz

This refreshes and returns a cached StatusSignal object.

Returns: Fault_SaturatedAccelerometer Status Signal Object

◆ GetFault_SaturatedGyroscope()

StatusSignal< bool > & ctre::phoenix6::hardware::core::CorePigeon2::GetFault_SaturatedGyroscope ( )

Gyroscope values are saturated.

Default Value: False

Default Rates:

CAN: 4.0 Hz

This refreshes and returns a cached StatusSignal object.

Returns: Fault_SaturatedGyroscope Status Signal Object

◆ GetFault_SaturatedMagnetometer()

StatusSignal< bool > & ctre::phoenix6::hardware::core::CorePigeon2::GetFault_SaturatedMagnetometer ( )

Magnetometer values are saturated.

Default Value: False

Default Rates:

CAN: 4.0 Hz

This refreshes and returns a cached StatusSignal object.

Returns: Fault_SaturatedMagnetometer Status Signal Object

◆ GetFault_Undervoltage()

StatusSignal< bool > & ctre::phoenix6::hardware::core::CorePigeon2::GetFault_Undervoltage ( )

Device supply voltage dropped to near brownout levels.

Default Value: False

Default Rates:

CAN: 4.0 Hz

This refreshes and returns a cached StatusSignal object.

Returns: Fault_Undervoltage Status Signal Object

◆ GetFault_UnlicensedFeatureInUse()

StatusSignal< bool > & ctre::phoenix6::hardware::core::CorePigeon2::GetFault_UnlicensedFeatureInUse ( )

An unlicensed feature is in use, device may not behave as expected.

Default Value: False

Default Rates:

CAN: 4.0 Hz

This refreshes and returns a cached StatusSignal object.

Returns: Fault_UnlicensedFeatureInUse Status Signal Object

◆ GetFaultField()

StatusSignal< int > & ctre::phoenix6::hardware::core::CorePigeon2::GetFaultField ( )

Integer representing all faults.

This returns the fault flags reported by the device. These are device specific and are not used directly in typical applications. Use the signal specific GetFault_*() methods instead.

Minimum Value: 0
Maximum Value: 16777215
Default Value: 0
Units:

Default Rates:

CAN: 4.0 Hz

This refreshes and returns a cached StatusSignal object.

Returns: FaultField Status Signal Object

◆ GetGravityVectorX()

StatusSignal< units::dimensionless::scalar_t > & ctre::phoenix6::hardware::core::CorePigeon2::GetGravityVectorX ( )

The X component of the gravity vector.

This is the X component of the reported gravity-vector. The gravity vector is not the acceleration experienced by the Pigeon2, rather it is where the Pigeon2 believes "Down" is. This can be used for mechanisms that are linearly related to gravity, such as an arm pivoting about a point, as the contribution of gravity to the arm is directly proportional to the contribution of gravity about one of these primary axis.

Minimum Value: -1.000030518509476
Maximum Value: 1.0
Default Value: 0
Units:

Default Rates:

CAN 2.0: 10.0 Hz
CAN FD: 100.0 Hz (TimeSynced with Pro)

This refreshes and returns a cached StatusSignal object.

Returns: GravityVectorX Status Signal Object

◆ GetGravityVectorY()

StatusSignal< units::dimensionless::scalar_t > & ctre::phoenix6::hardware::core::CorePigeon2::GetGravityVectorY ( )

The Y component of the gravity vector.

This is the X component of the reported gravity-vector. The gravity vector is not the acceleration experienced by the Pigeon2, rather it is where the Pigeon2 believes "Down" is. This can be used for mechanisms that are linearly related to gravity, such as an arm pivoting about a point, as the contribution of gravity to the arm is directly proportional to the contribution of gravity about one of these primary axis.

Minimum Value: -1.000030518509476
Maximum Value: 1.0
Default Value: 0
Units:

Default Rates:

CAN 2.0: 10.0 Hz
CAN FD: 100.0 Hz (TimeSynced with Pro)

This refreshes and returns a cached StatusSignal object.

Returns: GravityVectorY Status Signal Object

◆ GetGravityVectorZ()

StatusSignal< units::dimensionless::scalar_t > & ctre::phoenix6::hardware::core::CorePigeon2::GetGravityVectorZ ( )

The Z component of the gravity vector.

This is the Z component of the reported gravity-vector. The gravity vector is not the acceleration experienced by the Pigeon2, rather it is where the Pigeon2 believes "Down" is. This can be used for mechanisms that are linearly related to gravity, such as an arm pivoting about a point, as the contribution of gravity to the arm is directly proportional to the contribution of gravity about one of these primary axis.

Minimum Value: -1.000030518509476
Maximum Value: 1.0
Default Value: 0
Units:

Default Rates:

CAN 2.0: 10.0 Hz
CAN FD: 100.0 Hz (TimeSynced with Pro)

This refreshes and returns a cached StatusSignal object.

Returns: GravityVectorZ Status Signal Object

◆ GetIsProLicensed()

StatusSignal< bool > & ctre::phoenix6::hardware::core::CorePigeon2::GetIsProLicensed ( )

Whether the device is Phoenix Pro licensed.

Default Value: False

Default Rates:

CAN: 4.0 Hz

This refreshes and returns a cached StatusSignal object.

Returns: IsProLicensed Status Signal Object

◆ GetMagneticFieldX()

StatusSignal< units::magnetic_field_strength::microtesla_t > & ctre::phoenix6::hardware::core::CorePigeon2::GetMagneticFieldX ( )

The biased magnitude of the magnetic field measured by the Pigeon 2 in the X direction.

This is only valid after performing a magnetometer calibration.

Minimum Value: -19660.8
Maximum Value: 19660.2
Default Value: 0
Units: uT

Default Rates:

CAN: 4.0 Hz

This refreshes and returns a cached StatusSignal object.

Returns: MagneticFieldX Status Signal Object

◆ GetMagneticFieldY()

StatusSignal< units::magnetic_field_strength::microtesla_t > & ctre::phoenix6::hardware::core::CorePigeon2::GetMagneticFieldY ( )

The biased magnitude of the magnetic field measured by the Pigeon 2 in the Y direction.

This is only valid after performing a magnetometer calibration.

Minimum Value: -19660.8
Maximum Value: 19660.2
Default Value: 0
Units: uT

Default Rates:

CAN: 4.0 Hz

This refreshes and returns a cached StatusSignal object.

Returns: MagneticFieldY Status Signal Object

◆ GetMagneticFieldZ()

StatusSignal< units::magnetic_field_strength::microtesla_t > & ctre::phoenix6::hardware::core::CorePigeon2::GetMagneticFieldZ ( )

The biased magnitude of the magnetic field measured by the Pigeon 2 in the Z direction.

This is only valid after performing a magnetometer calibration.

Minimum Value: -19660.8
Maximum Value: 19660.2
Default Value: 0
Units: uT

Default Rates:

CAN: 4.0 Hz

This refreshes and returns a cached StatusSignal object.

Returns: MagneticFieldZ Status Signal Object

◆ GetNoMotionCount()

StatusSignal< units::dimensionless::scalar_t > & ctre::phoenix6::hardware::core::CorePigeon2::GetNoMotionCount ( )

The number of times a no-motion event occurred, wraps at 15.

Minimum Value: 0
Maximum Value: 15
Default Value: 0
Units:

Default Rates:

CAN 2.0: 4.0 Hz
CAN FD: 100.0 Hz (TimeSynced with Pro)

This refreshes and returns a cached StatusSignal object.

Returns: NoMotionCount Status Signal Object

◆ GetNoMotionEnabled()

StatusSignal< bool > & ctre::phoenix6::hardware::core::CorePigeon2::GetNoMotionEnabled ( )

Whether the no-motion calibration feature is enabled.

Default Value: 0

Default Rates:

CAN 2.0: 4.0 Hz
CAN FD: 100.0 Hz (TimeSynced with Pro)

This refreshes and returns a cached StatusSignal object.

Returns: NoMotionEnabled Status Signal Object

◆ GetPitch()

StatusSignal< units::angle::degree_t > & ctre::phoenix6::hardware::core::CorePigeon2::GetPitch ( )

Current reported pitch of the Pigeon2.

Minimum Value: -90.0
Maximum Value: 89.9560546875
Default Value: 0
Units: deg

Default Rates:

CAN 2.0: 100.0 Hz
CAN FD: 100.0 Hz (TimeSynced with Pro)

This refreshes and returns a cached StatusSignal object.

Returns: Pitch Status Signal Object

◆ GetQuatW()

StatusSignal< units::dimensionless::scalar_t > & ctre::phoenix6::hardware::core::CorePigeon2::GetQuatW ( )

The W component of the reported Quaternion.

Minimum Value: -1.0001220852154804
Maximum Value: 1.0
Default Value: 0
Units:

Default Rates:

CAN 2.0: 50.0 Hz
CAN FD: 100.0 Hz (TimeSynced with Pro)

This refreshes and returns a cached StatusSignal object.

Returns: QuatW Status Signal Object

◆ GetQuatX()

StatusSignal< units::dimensionless::scalar_t > & ctre::phoenix6::hardware::core::CorePigeon2::GetQuatX ( )

The X component of the reported Quaternion.

Minimum Value: -1.0001220852154804
Maximum Value: 1.0
Default Value: 0
Units:

Default Rates:

CAN 2.0: 50.0 Hz
CAN FD: 100.0 Hz (TimeSynced with Pro)

This refreshes and returns a cached StatusSignal object.

Returns: QuatX Status Signal Object

◆ GetQuatY()

StatusSignal< units::dimensionless::scalar_t > & ctre::phoenix6::hardware::core::CorePigeon2::GetQuatY ( )

The Y component of the reported Quaternion.

Minimum Value: -1.0001220852154804
Maximum Value: 1.0
Default Value: 0
Units:

Default Rates:

CAN 2.0: 50.0 Hz
CAN FD: 100.0 Hz (TimeSynced with Pro)

This refreshes and returns a cached StatusSignal object.

Returns: QuatY Status Signal Object

◆ GetQuatZ()

StatusSignal< units::dimensionless::scalar_t > & ctre::phoenix6::hardware::core::CorePigeon2::GetQuatZ ( )

The Z component of the reported Quaternion.

Minimum Value: -1.0001220852154804
Maximum Value: 1.0
Default Value: 0
Units:

Default Rates:

CAN 2.0: 50.0 Hz
CAN FD: 100.0 Hz (TimeSynced with Pro)

This refreshes and returns a cached StatusSignal object.

Returns: QuatZ Status Signal Object

◆ GetRawMagneticFieldX()

StatusSignal< units::magnetic_field_strength::microtesla_t > & ctre::phoenix6::hardware::core::CorePigeon2::GetRawMagneticFieldX ( )

The raw magnitude of the magnetic field measured by the Pigeon 2 in the X direction.

This is only valid after performing a magnetometer calibration.

Minimum Value: -19660.8
Maximum Value: 19660.2
Default Value: 0
Units: uT

Default Rates:

CAN: 4.0 Hz

This refreshes and returns a cached StatusSignal object.

Returns: RawMagneticFieldX Status Signal Object

◆ GetRawMagneticFieldY()

StatusSignal< units::magnetic_field_strength::microtesla_t > & ctre::phoenix6::hardware::core::CorePigeon2::GetRawMagneticFieldY ( )

The raw magnitude of the magnetic field measured by the Pigeon 2 in the Y direction.

This is only valid after performing a magnetometer calibration.

Minimum Value: -19660.8
Maximum Value: 19660.2
Default Value: 0
Units: uT

Default Rates:

CAN: 4.0 Hz

This refreshes and returns a cached StatusSignal object.

Returns: RawMagneticFieldY Status Signal Object

◆ GetRawMagneticFieldZ()

StatusSignal< units::magnetic_field_strength::microtesla_t > & ctre::phoenix6::hardware::core::CorePigeon2::GetRawMagneticFieldZ ( )

The raw magnitude of the magnetic field measured by the Pigeon 2 in the Z direction.

This is only valid after performing a magnetometer calibration.

Minimum Value: -19660.8
Maximum Value: 19660.2
Default Value: 0
Units: uT

Default Rates:

CAN: 4.0 Hz

This refreshes and returns a cached StatusSignal object.

Returns: RawMagneticFieldZ Status Signal Object

◆ GetRoll()

StatusSignal< units::angle::degree_t > & ctre::phoenix6::hardware::core::CorePigeon2::GetRoll ( )

Current reported roll of the Pigeon2.

Minimum Value: -180.0
Maximum Value: 179.9560546875
Default Value: 0
Units: deg

Default Rates:

CAN 2.0: 100.0 Hz
CAN FD: 100.0 Hz (TimeSynced with Pro)

This refreshes and returns a cached StatusSignal object.

Returns: Roll Status Signal Object

◆ GetSimState()

sim::Pigeon2SimState & ctre::phoenix6::hardware::core::CorePigeon2::GetSimState ( )

inline

Get the simulation state for this device.

This function reuses an allocated simulation state object, so it is safe to call this function multiple times in a robot loop.

Returns: Simulation state

◆ GetStickyFault_BootDuringEnable()

StatusSignal< bool > & ctre::phoenix6::hardware::core::CorePigeon2::GetStickyFault_BootDuringEnable ( )

Device boot while detecting the enable signal.

Default Value: False

Default Rates:

CAN: 4.0 Hz

This refreshes and returns a cached StatusSignal object.

Returns: StickyFault_BootDuringEnable Status Signal Object

◆ GetStickyFault_BootIntoMotion()

StatusSignal< bool > & ctre::phoenix6::hardware::core::CorePigeon2::GetStickyFault_BootIntoMotion ( )

Motion Detected during bootup.

Default Value: False

Default Rates:

CAN: 4.0 Hz

This refreshes and returns a cached StatusSignal object.

Returns: StickyFault_BootIntoMotion Status Signal Object

◆ GetStickyFault_BootupAccelerometer()

StatusSignal< bool > & ctre::phoenix6::hardware::core::CorePigeon2::GetStickyFault_BootupAccelerometer ( )

Bootup checks failed: Accelerometer.

Default Value: False

Default Rates:

CAN: 4.0 Hz

This refreshes and returns a cached StatusSignal object.

Returns: StickyFault_BootupAccelerometer Status Signal Object

◆ GetStickyFault_BootupGyroscope()

StatusSignal< bool > & ctre::phoenix6::hardware::core::CorePigeon2::GetStickyFault_BootupGyroscope ( )

Bootup checks failed: Gyroscope.

Default Value: False

Default Rates:

CAN: 4.0 Hz

This refreshes and returns a cached StatusSignal object.

Returns: StickyFault_BootupGyroscope Status Signal Object

◆ GetStickyFault_BootupMagnetometer()

StatusSignal< bool > & ctre::phoenix6::hardware::core::CorePigeon2::GetStickyFault_BootupMagnetometer ( )

Bootup checks failed: Magnetometer.

Default Value: False

Default Rates:

CAN: 4.0 Hz

This refreshes and returns a cached StatusSignal object.

Returns: StickyFault_BootupMagnetometer Status Signal Object

◆ GetStickyFault_DataAcquiredLate()

StatusSignal< bool > & ctre::phoenix6::hardware::core::CorePigeon2::GetStickyFault_DataAcquiredLate ( )

Motion stack data acquisition was slower than expected.

Default Value: False

Default Rates:

CAN: 4.0 Hz

This refreshes and returns a cached StatusSignal object.

Returns: StickyFault_DataAcquiredLate Status Signal Object

◆ GetStickyFault_Hardware()

StatusSignal< bool > & ctre::phoenix6::hardware::core::CorePigeon2::GetStickyFault_Hardware ( )

Hardware fault occurred.

Default Value: False

Default Rates:

CAN: 4.0 Hz

This refreshes and returns a cached StatusSignal object.

Returns: StickyFault_Hardware Status Signal Object

◆ GetStickyFault_LoopTimeSlow()

StatusSignal< bool > & ctre::phoenix6::hardware::core::CorePigeon2::GetStickyFault_LoopTimeSlow ( )

Motion stack loop time was slower than expected.

Default Value: False

Default Rates:

CAN: 4.0 Hz

This refreshes and returns a cached StatusSignal object.

Returns: StickyFault_LoopTimeSlow Status Signal Object

◆ GetStickyFault_SaturatedAccelerometer()

StatusSignal< bool > & ctre::phoenix6::hardware::core::CorePigeon2::GetStickyFault_SaturatedAccelerometer ( )

Accelerometer values are saturated.

Default Value: False

Default Rates:

CAN: 4.0 Hz

This refreshes and returns a cached StatusSignal object.

Returns: StickyFault_SaturatedAccelerometer Status Signal Object

◆ GetStickyFault_SaturatedGyroscope()

StatusSignal< bool > & ctre::phoenix6::hardware::core::CorePigeon2::GetStickyFault_SaturatedGyroscope ( )

Gyroscope values are saturated.

Default Value: False

Default Rates:

CAN: 4.0 Hz

This refreshes and returns a cached StatusSignal object.

Returns: StickyFault_SaturatedGyroscope Status Signal Object

◆ GetStickyFault_SaturatedMagnetometer()

StatusSignal< bool > & ctre::phoenix6::hardware::core::CorePigeon2::GetStickyFault_SaturatedMagnetometer ( )

Magnetometer values are saturated.

Default Value: False

Default Rates:

CAN: 4.0 Hz

This refreshes and returns a cached StatusSignal object.

Returns: StickyFault_SaturatedMagnetometer Status Signal Object

◆ GetStickyFault_Undervoltage()

StatusSignal< bool > & ctre::phoenix6::hardware::core::CorePigeon2::GetStickyFault_Undervoltage ( )

Device supply voltage dropped to near brownout levels.

Default Value: False

Default Rates:

CAN: 4.0 Hz

This refreshes and returns a cached StatusSignal object.

Returns: StickyFault_Undervoltage Status Signal Object

◆ GetStickyFault_UnlicensedFeatureInUse()

StatusSignal< bool > & ctre::phoenix6::hardware::core::CorePigeon2::GetStickyFault_UnlicensedFeatureInUse ( )

An unlicensed feature is in use, device may not behave as expected.

Default Value: False

Default Rates:

CAN: 4.0 Hz

This refreshes and returns a cached StatusSignal object.

Returns: StickyFault_UnlicensedFeatureInUse Status Signal Object

◆ GetStickyFaultField()

StatusSignal< int > & ctre::phoenix6::hardware::core::CorePigeon2::GetStickyFaultField ( )

Integer representing all sticky faults.

This returns the persistent "sticky" fault flags reported by the device. These are device specific and are not used directly in typical applications. Use the signal specific GetStickyFault_*() methods instead.

Minimum Value: 0
Maximum Value: 16777215
Default Value: 0
Units:

Default Rates:

CAN: 4.0 Hz

This refreshes and returns a cached StatusSignal object.

Returns: StickyFaultField Status Signal Object

◆ GetSupplyVoltage()

StatusSignal< units::voltage::volt_t > & ctre::phoenix6::hardware::core::CorePigeon2::GetSupplyVoltage ( )

Measured supply voltage to the Pigeon2.

Minimum Value: 0.0
Maximum Value: 31.99951171875
Default Value: 0
Units: V

Default Rates:

CAN 2.0: 4.0 Hz
CAN FD: 100.0 Hz (TimeSynced with Pro)

This refreshes and returns a cached StatusSignal object.

Returns: SupplyVoltage Status Signal Object

◆ GetTemperature()

StatusSignal< units::temperature::celsius_t > & ctre::phoenix6::hardware::core::CorePigeon2::GetTemperature ( )

Temperature of the Pigeon 2.

Minimum Value: -128.0
Maximum Value: 127.99609375
Default Value: 0
Units: ℃

Default Rates:

CAN 2.0: 4.0 Hz
CAN FD: 100.0 Hz (TimeSynced with Pro)

This refreshes and returns a cached StatusSignal object.

Returns: Temperature Status Signal Object

◆ GetTemperatureCompensationDisabled()

StatusSignal< bool > & ctre::phoenix6::hardware::core::CorePigeon2::GetTemperatureCompensationDisabled ( )

Whether the temperature-compensation feature is disabled.

Default Value: 0

Default Rates:

CAN 2.0: 4.0 Hz
CAN FD: 100.0 Hz (TimeSynced with Pro)

This refreshes and returns a cached StatusSignal object.

Returns: TemperatureCompensationDisabled Status Signal Object

◆ GetUpTime()

StatusSignal< units::time::second_t > & ctre::phoenix6::hardware::core::CorePigeon2::GetUpTime ( )

How long the Pigeon 2's been up in seconds, caps at 255 seconds.

Minimum Value: 0
Maximum Value: 255
Default Value: 0
Units: s

Default Rates:

CAN 2.0: 4.0 Hz
CAN FD: 100.0 Hz (TimeSynced with Pro)

This refreshes and returns a cached StatusSignal object.

Returns: UpTime Status Signal Object

◆ GetVersion()

StatusSignal< int > & ctre::phoenix6::hardware::core::CorePigeon2::GetVersion ( )

Full Version.

The format is a four byte value.

Full Version of firmware in device. The format is a four byte value.

Minimum Value: 0
Maximum Value: 4294967295
Default Value: 0
Units:

Default Rates:

CAN: 4.0 Hz

This refreshes and returns a cached StatusSignal object.

Returns: Version Status Signal Object

◆ GetVersionBugfix()

StatusSignal< int > & ctre::phoenix6::hardware::core::CorePigeon2::GetVersionBugfix ( )

App Bugfix Version number.

Minimum Value: 0
Maximum Value: 255
Default Value: 0
Units:

Default Rates:

CAN: 4.0 Hz

This refreshes and returns a cached StatusSignal object.

Returns: VersionBugfix Status Signal Object

◆ GetVersionBuild()

StatusSignal< int > & ctre::phoenix6::hardware::core::CorePigeon2::GetVersionBuild ( )

App Build Version number.

Minimum Value: 0
Maximum Value: 255
Default Value: 0
Units:

Default Rates:

CAN: 4.0 Hz

This refreshes and returns a cached StatusSignal object.

Returns: VersionBuild Status Signal Object

◆ GetVersionMajor()

StatusSignal< int > & ctre::phoenix6::hardware::core::CorePigeon2::GetVersionMajor ( )

App Major Version number.

Minimum Value: 0
Maximum Value: 255
Default Value: 0
Units:

Default Rates:

CAN: 4.0 Hz

This refreshes and returns a cached StatusSignal object.

Returns: VersionMajor Status Signal Object

◆ GetVersionMinor()

StatusSignal< int > & ctre::phoenix6::hardware::core::CorePigeon2::GetVersionMinor ( )

App Minor Version number.

Minimum Value: 0
Maximum Value: 255
Default Value: 0
Units:

Default Rates:

CAN: 4.0 Hz

This refreshes and returns a cached StatusSignal object.

Returns: VersionMinor Status Signal Object

◆ GetYaw()

StatusSignal< units::angle::degree_t > & ctre::phoenix6::hardware::core::CorePigeon2::GetYaw ( )

Current reported yaw of the Pigeon2.

Minimum Value: -368640.0
Maximum Value: 368639.99725341797
Default Value: 0
Units: deg

Default Rates:

CAN 2.0: 100.0 Hz
CAN FD: 100.0 Hz (TimeSynced with Pro)

This refreshes and returns a cached StatusSignal object.

Returns: Yaw Status Signal Object

◆ operator=()

CorePigeon2 & ctre::phoenix6::hardware::core::CorePigeon2::operator= ( CorePigeon2 && )

default

◆ SetControl() [1/2]

ctre::phoenix::StatusCode ctre::phoenix6::hardware::core::CorePigeon2::SetControl ( controls::ControlRequest && request )

inline

Control motor with generic control request object.

User must make sure the specified object is castable to a valid control request, otherwise this function will fail at run-time and return the corresponding StatusCode

Parameters

request Control object to request of the device

Returns: Status Code of the request, 0 is OK

◆ SetControl() [2/2]

ctre::phoenix::StatusCode ctre::phoenix6::hardware::core::CorePigeon2::SetControl ( controls::ControlRequest & request )

inline

Control motor with generic control request object.

User must make sure the specified object is castable to a valid control request, otherwise this function will fail at run-time and return the NotSupported StatusCode

Parameters

request Control object to request of the device

Returns: Status Code of the request, 0 is OK

◆ SetYaw() [1/2]

ctre::phoenix::StatusCode ctre::phoenix6::hardware::core::CorePigeon2::SetYaw ( units::angle::degree_t newValue )

inline

The yaw to set the Pigeon2 to right now.

This will wait up to 0.050 seconds (50ms) by default.

Parameters

newValue Value to set to. Units are in deg.

Returns: StatusCode of the set command

◆ SetYaw() [2/2]

ctre::phoenix::StatusCode ctre::phoenix6::hardware::core::CorePigeon2::SetYaw	(	units::angle::degree_t	newValue,
		units::time::second_t	timeoutSeconds
	)

inline

The yaw to set the Pigeon2 to right now.

Parameters

newValue	Value to set to. Units are in deg.
timeoutSeconds	Maximum time to wait up to in seconds.

Returns: StatusCode of the set command

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

ctre/phoenix6/core/CorePigeon2.hpp

Public Member Functions

Additional Inherited Members

Detailed Description

Constructor & Destructor Documentation

◆ CorePigeon2() [1/2]

◆ CorePigeon2() [2/2]

Member Function Documentation

◆ ClearStickyFault_BootDuringEnable() [1/2]

◆ ClearStickyFault_BootDuringEnable() [2/2]

◆ ClearStickyFault_BootIntoMotion() [1/2]

◆ ClearStickyFault_BootIntoMotion() [2/2]

◆ ClearStickyFault_BootupAccelerometer() [1/2]

◆ ClearStickyFault_BootupAccelerometer() [2/2]

◆ ClearStickyFault_BootupGyroscope() [1/2]

◆ ClearStickyFault_BootupGyroscope() [2/2]

◆ ClearStickyFault_BootupMagnetometer() [1/2]

◆ ClearStickyFault_BootupMagnetometer() [2/2]

◆ ClearStickyFault_DataAcquiredLate() [1/2]

◆ ClearStickyFault_DataAcquiredLate() [2/2]

◆ ClearStickyFault_Hardware() [1/2]

◆ ClearStickyFault_Hardware() [2/2]

◆ ClearStickyFault_LoopTimeSlow() [1/2]

◆ ClearStickyFault_LoopTimeSlow() [2/2]

◆ ClearStickyFault_SaturatedAccelerometer() [1/2]

◆ ClearStickyFault_SaturatedAccelerometer() [2/2]

◆ ClearStickyFault_SaturatedGyroscope() [1/2]

◆ ClearStickyFault_SaturatedGyroscope() [2/2]

◆ ClearStickyFault_SaturatedMagnetometer() [1/2]

◆ ClearStickyFault_SaturatedMagnetometer() [2/2]

◆ ClearStickyFault_Undervoltage() [1/2]

◆ ClearStickyFault_Undervoltage() [2/2]

◆ ClearStickyFaults() [1/2]

◆ ClearStickyFaults() [2/2]

◆ GetAccelerationX()

◆ GetAccelerationY()

◆ GetAccelerationZ()

◆ GetAccumGyroX()

◆ GetAccumGyroY()

◆ GetAccumGyroZ()

◆ GetAngularVelocityXDevice()

◆ GetAngularVelocityXWorld()

◆ GetAngularVelocityYDevice()

◆ GetAngularVelocityYWorld()

◆ GetAngularVelocityZDevice()

◆ GetAngularVelocityZWorld()

◆ GetConfigurator() [1/2]

◆ GetConfigurator() [2/2]

◆ GetFault_BootDuringEnable()

◆ GetFault_BootIntoMotion()

◆ GetFault_BootupAccelerometer()

◆ GetFault_BootupGyroscope()

◆ GetFault_BootupMagnetometer()

◆ GetFault_DataAcquiredLate()

◆ GetFault_Hardware()

◆ GetFault_LoopTimeSlow()

◆ GetFault_SaturatedAccelerometer()

◆ GetFault_SaturatedGyroscope()

◆ GetFault_SaturatedMagnetometer()

◆ GetFault_Undervoltage()

◆ GetFault_UnlicensedFeatureInUse()

◆ GetFaultField()

◆ GetGravityVectorX()

◆ GetGravityVectorY()

◆ GetGravityVectorZ()

◆ GetIsProLicensed()

◆ GetMagneticFieldX()

◆ GetMagneticFieldY()

◆ GetMagneticFieldZ()

◆ GetNoMotionCount()

◆ GetNoMotionEnabled()

◆ GetPitch()

◆ GetQuatW()

◆ GetQuatX()

◆ GetQuatY()

◆ GetQuatZ()

◆ GetRawMagneticFieldX()

◆ GetRawMagneticFieldY()

◆ GetRawMagneticFieldZ()

◆ GetRoll()

◆ GetSimState()