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 Types
using	Configuration = configs::Pigeon2Configuration

Public Member Functions
	CorePigeon2 (int deviceId, std::string canbus="")
	Constructs a new Pigeon 2 sensor object.

	CorePigeon2 (int deviceId, CANBus canbus)
	Constructs a new Pigeon 2 sensor object.

configs::Pigeon2Configurator &	GetConfigurator ()
	Gets the configurator for this Pigeon2.

configs::Pigeon2Configurator const &	GetConfigurator () const
	Gets the configurator for this Pigeon2.

sim::Pigeon2SimState &	GetSimState ()
	Get the simulation state for this device.

StatusSignal< int > &	GetVersionMajor (bool refresh=true)
	App Major Version number.

StatusSignal< int > &	GetVersionMinor (bool refresh=true)
	App Minor Version number.

StatusSignal< int > &	GetVersionBugfix (bool refresh=true)
	App Bugfix Version number.

StatusSignal< int > &	GetVersionBuild (bool refresh=true)
	App Build Version number.

StatusSignal< int > &	GetVersion (bool refresh=true)
	Full Version of firmware in device.

StatusSignal< int > &	GetFaultField (bool refresh=true)
	Integer representing all fault flags reported by the device.

StatusSignal< int > &	GetStickyFaultField (bool refresh=true)
	Integer representing all (persistent) sticky fault flags reported by the device.

StatusSignal< units::angle::degree_t > &	GetYaw (bool refresh=true)
	Current reported yaw of the Pigeon2.

StatusSignal< units::angle::degree_t > &	GetPitch (bool refresh=true)
	Current reported pitch of the Pigeon2.

StatusSignal< units::angle::degree_t > &	GetRoll (bool refresh=true)
	Current reported roll of the Pigeon2.

StatusSignal< units::dimensionless::scalar_t > &	GetQuatW (bool refresh=true)
	The W component of the reported Quaternion.

StatusSignal< units::dimensionless::scalar_t > &	GetQuatX (bool refresh=true)
	The X component of the reported Quaternion.

StatusSignal< units::dimensionless::scalar_t > &	GetQuatY (bool refresh=true)
	The Y component of the reported Quaternion.

StatusSignal< units::dimensionless::scalar_t > &	GetQuatZ (bool refresh=true)
	The Z component of the reported Quaternion.

StatusSignal< units::dimensionless::scalar_t > &	GetGravityVectorX (bool refresh=true)
	The X component of the gravity vector.

StatusSignal< units::dimensionless::scalar_t > &	GetGravityVectorY (bool refresh=true)
	The Y component of the gravity vector.

StatusSignal< units::dimensionless::scalar_t > &	GetGravityVectorZ (bool refresh=true)
	The Z component of the gravity vector.

StatusSignal< units::temperature::celsius_t > &	GetTemperature (bool refresh=true)
	Temperature of the Pigeon 2.

StatusSignal< bool > &	GetNoMotionEnabled (bool refresh=true)
	Whether the no-motion calibration feature is enabled.

StatusSignal< units::dimensionless::scalar_t > &	GetNoMotionCount (bool refresh=true)
	The number of times a no-motion event occurred, wraps at 15.

StatusSignal< bool > &	GetTemperatureCompensationDisabled (bool refresh=true)
	Whether the temperature-compensation feature is disabled.

StatusSignal< units::time::second_t > &	GetUpTime (bool refresh=true)
	How long the Pigeon 2's been up in seconds, caps at 255 seconds.

StatusSignal< units::angle::degree_t > &	GetAccumGyroX (bool refresh=true)
	The accumulated gyro about the X axis without any sensor fusing.

StatusSignal< units::angle::degree_t > &	GetAccumGyroY (bool refresh=true)
	The accumulated gyro about the Y axis without any sensor fusing.

StatusSignal< units::angle::degree_t > &	GetAccumGyroZ (bool refresh=true)
	The accumulated gyro about the Z axis without any sensor fusing.

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::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< 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.

StatusSignal< units::acceleration::standard_gravity_t > &	GetAccelerationX (bool refresh=true)
	The acceleration measured by Pigeon2 in the X direction.

StatusSignal< units::acceleration::standard_gravity_t > &	GetAccelerationY (bool refresh=true)
	The acceleration measured by Pigeon2 in the Y direction.

StatusSignal< units::acceleration::standard_gravity_t > &	GetAccelerationZ (bool refresh=true)
	The acceleration measured by Pigeon2 in the Z direction.

StatusSignal< units::voltage::volt_t > &	GetSupplyVoltage (bool refresh=true)
	Measured supply voltage to the Pigeon2.

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.

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.

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.

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::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< 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::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< 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< 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< bool > &	GetIsProLicensed (bool refresh=true)
	Whether the device is Phoenix Pro licensed.

StatusSignal< bool > &	GetFault_Hardware (bool refresh=true)
	Hardware fault occurred.

StatusSignal< bool > &	GetStickyFault_Hardware (bool refresh=true)
	Hardware fault occurred.

StatusSignal< bool > &	GetFault_Undervoltage (bool refresh=true)
	Device supply voltage dropped to near brownout levels.

StatusSignal< bool > &	GetStickyFault_Undervoltage (bool refresh=true)
	Device supply voltage dropped to near brownout levels.

StatusSignal< bool > &	GetFault_BootDuringEnable (bool refresh=true)
	Device boot while detecting the enable signal.

StatusSignal< bool > &	GetStickyFault_BootDuringEnable (bool refresh=true)
	Device boot while detecting the enable signal.

StatusSignal< bool > &	GetFault_UnlicensedFeatureInUse (bool refresh=true)
	An unlicensed feature is in use, device may not behave as expected.

StatusSignal< bool > &	GetStickyFault_UnlicensedFeatureInUse (bool refresh=true)
	An unlicensed feature is in use, device may not behave as expected.

StatusSignal< bool > &	GetFault_BootupAccelerometer (bool refresh=true)
	Bootup checks failed: Accelerometer.

StatusSignal< bool > &	GetStickyFault_BootupAccelerometer (bool refresh=true)
	Bootup checks failed: Accelerometer.

StatusSignal< bool > &	GetFault_BootupGyroscope (bool refresh=true)
	Bootup checks failed: Gyroscope.

StatusSignal< bool > &	GetStickyFault_BootupGyroscope (bool refresh=true)
	Bootup checks failed: Gyroscope.

StatusSignal< bool > &	GetFault_BootupMagnetometer (bool refresh=true)
	Bootup checks failed: Magnetometer.

StatusSignal< bool > &	GetStickyFault_BootupMagnetometer (bool refresh=true)
	Bootup checks failed: Magnetometer.

StatusSignal< bool > &	GetFault_BootIntoMotion (bool refresh=true)
	Motion Detected during bootup.

StatusSignal< bool > &	GetStickyFault_BootIntoMotion (bool refresh=true)
	Motion Detected during bootup.

StatusSignal< bool > &	GetFault_DataAcquiredLate (bool refresh=true)
	Motion stack data acquisition was slower than expected.

StatusSignal< bool > &	GetStickyFault_DataAcquiredLate (bool refresh=true)
	Motion stack data acquisition was slower than expected.

StatusSignal< bool > &	GetFault_LoopTimeSlow (bool refresh=true)
	Motion stack loop time was slower than expected.

StatusSignal< bool > &	GetStickyFault_LoopTimeSlow (bool refresh=true)
	Motion stack loop time was slower than expected.

StatusSignal< bool > &	GetFault_SaturatedMagnetometer (bool refresh=true)
	Magnetometer values are saturated.

StatusSignal< bool > &	GetStickyFault_SaturatedMagnetometer (bool refresh=true)
	Magnetometer values are saturated.

StatusSignal< bool > &	GetFault_SaturatedAccelerometer (bool refresh=true)
	Accelerometer values are saturated.

StatusSignal< bool > &	GetStickyFault_SaturatedAccelerometer (bool refresh=true)
	Accelerometer values are saturated.

StatusSignal< bool > &	GetFault_SaturatedGyroscope (bool refresh=true)
	Gyroscope values are saturated.

StatusSignal< bool > &	GetStickyFault_SaturatedGyroscope (bool refresh=true)
	Gyroscope values are saturated.

ctre::phoenix::StatusCode	SetControl (const controls::ControlRequest &request)
	Control device with generic control request object.

ctre::phoenix::StatusCode	SetYaw (units::angle::degree_t newValue, units::time::second_t timeoutSeconds)
	The yaw to set the Pigeon2 to right now.

ctre::phoenix::StatusCode	SetYaw (units::angle::degree_t newValue)
	The yaw to set the Pigeon2 to right now.

ctre::phoenix::StatusCode	ClearStickyFaults (units::time::second_t timeoutSeconds)
	Clear the sticky faults in the device.

ctre::phoenix::StatusCode	ClearStickyFaults ()
	Clear the sticky faults in the device.

ctre::phoenix::StatusCode	ClearStickyFault_Hardware (units::time::second_t timeoutSeconds)
	Clear sticky fault: Hardware fault occurred.

ctre::phoenix::StatusCode	ClearStickyFault_Hardware ()
	Clear sticky fault: Hardware fault occurred.

ctre::phoenix::StatusCode	ClearStickyFault_Undervoltage (units::time::second_t timeoutSeconds)
	Clear sticky fault: Device supply voltage dropped to near brownout levels.

ctre::phoenix::StatusCode	ClearStickyFault_Undervoltage ()
	Clear sticky fault: Device supply voltage dropped to near brownout levels.

ctre::phoenix::StatusCode	ClearStickyFault_BootDuringEnable (units::time::second_t timeoutSeconds)
	Clear sticky fault: Device boot while detecting the enable signal.

ctre::phoenix::StatusCode	ClearStickyFault_BootDuringEnable ()
	Clear sticky fault: Device boot while detecting the enable signal.

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.

ctre::phoenix::StatusCode	ClearStickyFault_UnlicensedFeatureInUse ()
	Clear sticky fault: An unlicensed feature is in use, device may not behave as expected.

ctre::phoenix::StatusCode	ClearStickyFault_BootupAccelerometer (units::time::second_t timeoutSeconds)
	Clear sticky fault: Bootup checks failed: Accelerometer.

ctre::phoenix::StatusCode	ClearStickyFault_BootupAccelerometer ()
	Clear sticky fault: Bootup checks failed: Accelerometer.

ctre::phoenix::StatusCode	ClearStickyFault_BootupGyroscope (units::time::second_t timeoutSeconds)
	Clear sticky fault: Bootup checks failed: Gyroscope.

ctre::phoenix::StatusCode	ClearStickyFault_BootupGyroscope ()
	Clear sticky fault: Bootup checks failed: Gyroscope.

ctre::phoenix::StatusCode	ClearStickyFault_BootupMagnetometer (units::time::second_t timeoutSeconds)
	Clear sticky fault: Bootup checks failed: Magnetometer.

ctre::phoenix::StatusCode	ClearStickyFault_BootupMagnetometer ()
	Clear sticky fault: Bootup checks failed: Magnetometer.

ctre::phoenix::StatusCode	ClearStickyFault_BootIntoMotion (units::time::second_t timeoutSeconds)
	Clear sticky fault: Motion Detected during bootup.

ctre::phoenix::StatusCode	ClearStickyFault_BootIntoMotion ()
	Clear sticky fault: Motion Detected during bootup.

ctre::phoenix::StatusCode	ClearStickyFault_DataAcquiredLate (units::time::second_t timeoutSeconds)
	Clear sticky fault: Motion stack data acquisition was slower than expected.

ctre::phoenix::StatusCode	ClearStickyFault_DataAcquiredLate ()
	Clear sticky fault: Motion stack data acquisition was slower than expected.

ctre::phoenix::StatusCode	ClearStickyFault_LoopTimeSlow (units::time::second_t timeoutSeconds)
	Clear sticky fault: Motion stack loop time was slower than expected.

ctre::phoenix::StatusCode	ClearStickyFault_LoopTimeSlow ()
	Clear sticky fault: Motion stack loop time was slower than expected.

ctre::phoenix::StatusCode	ClearStickyFault_SaturatedMagnetometer (units::time::second_t timeoutSeconds)
	Clear sticky fault: Magnetometer values are saturated.

ctre::phoenix::StatusCode	ClearStickyFault_SaturatedMagnetometer ()
	Clear sticky fault: Magnetometer values are saturated.

ctre::phoenix::StatusCode	ClearStickyFault_SaturatedAccelerometer (units::time::second_t timeoutSeconds)
	Clear sticky fault: Accelerometer values are saturated.

ctre::phoenix::StatusCode	ClearStickyFault_SaturatedAccelerometer ()
	Clear sticky fault: Accelerometer values are saturated.

ctre::phoenix::StatusCode	ClearStickyFault_SaturatedGyroscope (units::time::second_t timeoutSeconds)
	Clear sticky fault: Gyroscope values are saturated.

ctre::phoenix::StatusCode	ClearStickyFault_SaturatedGyroscope ()
	Clear sticky fault: Gyroscope values are saturated.

Public Member Functions inherited from ctre::phoenix6::hardware::ParentDevice
	ParentDevice (int deviceID, std::string model, std::string canbus)

virtual	~ParentDevice ()=default

	ParentDevice (ParentDevice const &)=delete

ParentDevice &	operator= (ParentDevice const &)=delete

int	GetDeviceID () const

const std::string &	GetNetwork () const

uint64_t	GetDeviceHash () const
	Gets a number unique for this device's hardware type and ID.

std::shared_ptr< const controls::ControlRequest >	GetAppliedControl () const
	Get the latest applied control.

std::shared_ptr< controls::ControlRequest >	GetAppliedControl ()
	Get the latest applied control.

bool	HasResetOccurred ()

std::function< bool()>	GetResetOccurredChecker () const

bool	IsConnected (units::second_t maxLatencySeconds=500_ms)
	Returns whether the device is still connected to the robot.

StatusSignal< double > &	GetGenericSignal (uint32_t signal, bool refresh=true)
	This is a reserved routine for internal testing.

ctre::phoenix::StatusCode	OptimizeBusUtilization (units::frequency::hertz_t optimizedFreqHz=0_Hz, units::time::second_t timeoutSeconds=100_ms)
	Optimizes the device's bus utilization by reducing the update frequencies of its status signals.

ctre::phoenix::StatusCode	ResetSignalFrequencies (units::time::second_t timeoutSeconds=100_ms)
	Resets the update frequencies of all the device's status signals to the defaults.

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.

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.

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.

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.

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.

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.

template<typename... Devices, typename = std::enable_if_t<is_all_device_v<Devices...>>>
static ctre::phoenix::StatusCode	ResetSignalFrequenciesForAll (Devices &... devices)
	Resets the update frequencies of all the devices' status signals to the defaults.

static ctre::phoenix::StatusCode	ResetSignalFrequenciesForAll (const std::vector< ParentDevice * > &devices)
	Resets the update frequencies of all the devices' status signals to the defaults.

template<size_t N>
static ctre::phoenix::StatusCode	ResetSignalFrequenciesForAll (const std::array< ParentDevice *, N > &devices)
	Resets the update frequencies of all the devices' status signals to the defaults.

Protected Member Functions inherited from ctre::phoenix6::hardware::ParentDevice
virtual ctre::phoenix::StatusCode	SetControlPrivate (const controls::ControlRequest &request)

template<typename T >
StatusSignal< T > &	LookupStatusSignal (uint16_t spn, std::string signalName, bool reportOnConstruction, bool refresh)

template<typename T >
StatusSignal< T > &	LookupStatusSignal (uint16_t spn, std::function< std::map< uint16_t, std::string >()> mapFiller, std::string signalName, bool reportOnConstruction, bool refresh)

template<typename T , typename U >
StatusSignal< T >	LookupDimensionlessStatusSignal (uint16_t spn, std::string signalName, bool refresh)
	Returns a unitless version of the StatusSignal by value.

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.

Detailed Description

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

Member Typedef Documentation

◆ Configuration

using ctre::phoenix6::hardware::core::CorePigeon2::Configuration = configs::Pigeon2Configuration

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	(	int	deviceId,
		CANBus	canbus )

inline

Constructs a new Pigeon 2 sensor object.

Parameters

deviceId	ID of the device, as configured in Phoenix Tuner.
canbus	The CAN bus this device is on.

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 0.100 seconds (100ms) 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 0.100 seconds (100ms) 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 0.100 seconds (100ms) 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 0.100 seconds (100ms) 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 0.100 seconds (100ms) 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 0.100 seconds (100ms) 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 0.100 seconds (100ms) 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 0.100 seconds (100ms) 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 0.100 seconds (100ms) 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 0.100 seconds (100ms) 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 0.100 seconds (100ms) 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 0.100 seconds (100ms) 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

◆ ClearStickyFault_UnlicensedFeatureInUse() [1/2]

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

inline

Clear sticky fault: An unlicensed feature is in use, device may not behave as expected.

This will wait up to 0.100 seconds (100ms) by default.

Returns: StatusCode of the set command

◆ ClearStickyFault_UnlicensedFeatureInUse() [2/2]

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

inline

Clear sticky fault: An unlicensed feature is in use, device may not behave as expected.

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 0.100 seconds (100ms) 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 ( bool refresh = true )

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.

Parameters

refresh Whether to refresh the StatusSignal before returning it; defaults to true

Returns: AccelerationX Status Signal Object

◆ GetAccelerationY()

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

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.

Parameters

refresh Whether to refresh the StatusSignal before returning it; defaults to true

Returns: AccelerationY Status Signal Object

◆ GetAccelerationZ()

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

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.

Parameters

refresh Whether to refresh the StatusSignal before returning it; defaults to true

Returns: AccelerationZ Status Signal Object

◆ GetAccumGyroX()

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

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.

Parameters

refresh Whether to refresh the StatusSignal before returning it; defaults to true

Returns: AccumGyroX Status Signal Object

◆ GetAccumGyroY()

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

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.

Parameters

refresh Whether to refresh the StatusSignal before returning it; defaults to true

Returns: AccumGyroY Status Signal Object

◆ GetAccumGyroZ()

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

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.

Parameters

refresh Whether to refresh the StatusSignal before returning it; defaults to true

Returns: AccumGyroZ Status Signal Object

◆ GetAngularVelocityXDevice()

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

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.

Parameters

refresh Whether to refresh the StatusSignal before returning it; defaults to true

Returns: AngularVelocityXDevice Status Signal Object

◆ GetAngularVelocityXWorld()

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

The angular velocity (ω) of the Pigeon 2 about the X axis with respect to the world frame.

This value 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.

Parameters

refresh Whether to refresh the StatusSignal before returning it; defaults to true

Returns: AngularVelocityXWorld Status Signal Object

◆ GetAngularVelocityYDevice()

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

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.

Parameters

refresh Whether to refresh the StatusSignal before returning it; defaults to true

Returns: AngularVelocityYDevice Status Signal Object

◆ GetAngularVelocityYWorld()

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

The angular velocity (ω) of the Pigeon 2 about the Y axis with respect to the world frame.

This value 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.

Parameters

refresh Whether to refresh the StatusSignal before returning it; defaults to true

Returns: AngularVelocityYWorld Status Signal Object

◆ GetAngularVelocityZDevice()

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

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.

Parameters

refresh Whether to refresh the StatusSignal before returning it; defaults to true

Returns: AngularVelocityZDevice Status Signal Object

◆ GetAngularVelocityZWorld()

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

The angular velocity (ω) of the Pigeon 2 about the Z axis with respect to the world frame.

This value 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.

Parameters

refresh Whether to refresh the StatusSignal before returning it; defaults to true

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 ( bool refresh = true )

Device boot while detecting the enable signal.

Default Value: False

Default Rates:

CAN: 4.0 Hz

This refreshes and returns a cached StatusSignal object.

Parameters

refresh Whether to refresh the StatusSignal before returning it; defaults to true

Returns: Fault_BootDuringEnable Status Signal Object

◆ GetFault_BootIntoMotion()

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

Motion Detected during bootup.

Default Value: False

Default Rates:

CAN: 4.0 Hz

This refreshes and returns a cached StatusSignal object.

Parameters

refresh Whether to refresh the StatusSignal before returning it; defaults to true

Returns: Fault_BootIntoMotion Status Signal Object

◆ GetFault_BootupAccelerometer()

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

Bootup checks failed: Accelerometer.

Default Value: False

Default Rates:

CAN: 4.0 Hz

This refreshes and returns a cached StatusSignal object.

Parameters

refresh Whether to refresh the StatusSignal before returning it; defaults to true

Returns: Fault_BootupAccelerometer Status Signal Object

◆ GetFault_BootupGyroscope()

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

Bootup checks failed: Gyroscope.

Default Value: False

Default Rates:

CAN: 4.0 Hz

This refreshes and returns a cached StatusSignal object.

Parameters

refresh Whether to refresh the StatusSignal before returning it; defaults to true

Returns: Fault_BootupGyroscope Status Signal Object

◆ GetFault_BootupMagnetometer()

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

Bootup checks failed: Magnetometer.

Default Value: False

Default Rates:

CAN: 4.0 Hz

This refreshes and returns a cached StatusSignal object.

Parameters

refresh Whether to refresh the StatusSignal before returning it; defaults to true

Returns: Fault_BootupMagnetometer Status Signal Object

◆ GetFault_DataAcquiredLate()

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

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.

Parameters

refresh Whether to refresh the StatusSignal before returning it; defaults to true

Returns: Fault_DataAcquiredLate Status Signal Object

◆ GetFault_Hardware()

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

Hardware fault occurred.

Default Value: False

Default Rates:

CAN: 4.0 Hz

This refreshes and returns a cached StatusSignal object.

Parameters

refresh Whether to refresh the StatusSignal before returning it; defaults to true

Returns: Fault_Hardware Status Signal Object

◆ GetFault_LoopTimeSlow()

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

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.

Parameters

refresh Whether to refresh the StatusSignal before returning it; defaults to true

Returns: Fault_LoopTimeSlow Status Signal Object

◆ GetFault_SaturatedAccelerometer()

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

Accelerometer values are saturated.

Default Value: False

Default Rates:

CAN: 4.0 Hz

This refreshes and returns a cached StatusSignal object.

Parameters

refresh Whether to refresh the StatusSignal before returning it; defaults to true

Returns: Fault_SaturatedAccelerometer Status Signal Object

◆ GetFault_SaturatedGyroscope()

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

Gyroscope values are saturated.

Default Value: False

Default Rates:

CAN: 4.0 Hz

This refreshes and returns a cached StatusSignal object.

Parameters

refresh Whether to refresh the StatusSignal before returning it; defaults to true

Returns: Fault_SaturatedGyroscope Status Signal Object

◆ GetFault_SaturatedMagnetometer()

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

Magnetometer values are saturated.

Default Value: False

Default Rates:

CAN: 4.0 Hz

This refreshes and returns a cached StatusSignal object.

Parameters

refresh Whether to refresh the StatusSignal before returning it; defaults to true

Returns: Fault_SaturatedMagnetometer Status Signal Object

◆ GetFault_Undervoltage()

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

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.

Parameters

refresh Whether to refresh the StatusSignal before returning it; defaults to true

Returns: Fault_Undervoltage Status Signal Object

◆ GetFault_UnlicensedFeatureInUse()

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

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.

Parameters

refresh Whether to refresh the StatusSignal before returning it; defaults to true

Returns: Fault_UnlicensedFeatureInUse Status Signal Object

◆ GetFaultField()

StatusSignal< int > & ctre::phoenix6::hardware::core::CorePigeon2::GetFaultField ( bool refresh = true )

Integer representing all 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: 4294967295
Default Value: 0
Units:

Default Rates:

CAN: 4.0 Hz

This refreshes and returns a cached StatusSignal object.

Parameters

refresh Whether to refresh the StatusSignal before returning it; defaults to true

Returns: FaultField Status Signal Object

◆ GetGravityVectorX()

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

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.

Parameters

refresh Whether to refresh the StatusSignal before returning it; defaults to true

Returns: GravityVectorX Status Signal Object

◆ GetGravityVectorY()

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

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.

Parameters

refresh Whether to refresh the StatusSignal before returning it; defaults to true

Returns: GravityVectorY Status Signal Object

◆ GetGravityVectorZ()

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

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.

Parameters

refresh Whether to refresh the StatusSignal before returning it; defaults to true

Returns: GravityVectorZ Status Signal Object

◆ GetIsProLicensed()

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

Whether the device is Phoenix Pro licensed.

Default Value: False

Default Rates:

CAN: 4.0 Hz

This refreshes and returns a cached StatusSignal object.

Parameters

refresh Whether to refresh the StatusSignal before returning it; defaults to true

Returns: IsProLicensed Status Signal Object

◆ GetMagneticFieldX()

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

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.

Parameters

refresh Whether to refresh the StatusSignal before returning it; defaults to true

Returns: MagneticFieldX Status Signal Object

◆ GetMagneticFieldY()

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

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.

Parameters

refresh Whether to refresh the StatusSignal before returning it; defaults to true

Returns: MagneticFieldY Status Signal Object

◆ GetMagneticFieldZ()

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

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.

Parameters

refresh Whether to refresh the StatusSignal before returning it; defaults to true

Returns: MagneticFieldZ Status Signal Object

◆ GetNoMotionCount()

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

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.

Parameters

refresh Whether to refresh the StatusSignal before returning it; defaults to true

Returns: NoMotionCount Status Signal Object

◆ GetNoMotionEnabled()

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

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.

Parameters

refresh Whether to refresh the StatusSignal before returning it; defaults to true

Returns: NoMotionEnabled Status Signal Object

◆ GetPitch()

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

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.

Parameters

refresh Whether to refresh the StatusSignal before returning it; defaults to true

Returns: Pitch Status Signal Object

◆ GetQuatW()

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

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.

Parameters

refresh Whether to refresh the StatusSignal before returning it; defaults to true

Returns: QuatW Status Signal Object

◆ GetQuatX()

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

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.

Parameters

refresh Whether to refresh the StatusSignal before returning it; defaults to true

Returns: QuatX Status Signal Object

◆ GetQuatY()

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

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.

Parameters

refresh Whether to refresh the StatusSignal before returning it; defaults to true

Returns: QuatY Status Signal Object

◆ GetQuatZ()

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

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.

Parameters

refresh Whether to refresh the StatusSignal before returning it; defaults to true

Returns: QuatZ Status Signal Object

◆ GetRawMagneticFieldX()

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

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.

Parameters

refresh Whether to refresh the StatusSignal before returning it; defaults to true

Returns: RawMagneticFieldX Status Signal Object

◆ GetRawMagneticFieldY()

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

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.

Parameters

refresh Whether to refresh the StatusSignal before returning it; defaults to true

Returns: RawMagneticFieldY Status Signal Object

◆ GetRawMagneticFieldZ()

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

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.

Parameters

refresh Whether to refresh the StatusSignal before returning it; defaults to true

Returns: RawMagneticFieldZ Status Signal Object

◆ GetRoll()

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

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.

Parameters

refresh Whether to refresh the StatusSignal before returning it; defaults to true

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 ( bool refresh = true )

Device boot while detecting the enable signal.

Default Value: False

Default Rates:

CAN: 4.0 Hz

This refreshes and returns a cached StatusSignal object.

Parameters

refresh Whether to refresh the StatusSignal before returning it; defaults to true

Returns: StickyFault_BootDuringEnable Status Signal Object

◆ GetStickyFault_BootIntoMotion()

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

Motion Detected during bootup.

Default Value: False

Default Rates:

CAN: 4.0 Hz

This refreshes and returns a cached StatusSignal object.

Parameters

refresh Whether to refresh the StatusSignal before returning it; defaults to true

Returns: StickyFault_BootIntoMotion Status Signal Object

◆ GetStickyFault_BootupAccelerometer()

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

Bootup checks failed: Accelerometer.

Default Value: False

Default Rates:

CAN: 4.0 Hz

This refreshes and returns a cached StatusSignal object.

Parameters

refresh Whether to refresh the StatusSignal before returning it; defaults to true

Returns: StickyFault_BootupAccelerometer Status Signal Object

◆ GetStickyFault_BootupGyroscope()

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

Bootup checks failed: Gyroscope.

Default Value: False

Default Rates:

CAN: 4.0 Hz

This refreshes and returns a cached StatusSignal object.

Parameters

refresh Whether to refresh the StatusSignal before returning it; defaults to true

Returns: StickyFault_BootupGyroscope Status Signal Object

◆ GetStickyFault_BootupMagnetometer()

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

Bootup checks failed: Magnetometer.

Default Value: False

Default Rates:

CAN: 4.0 Hz

This refreshes and returns a cached StatusSignal object.

Parameters

refresh Whether to refresh the StatusSignal before returning it; defaults to true

Returns: StickyFault_BootupMagnetometer Status Signal Object

◆ GetStickyFault_DataAcquiredLate()

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

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.

Parameters

refresh Whether to refresh the StatusSignal before returning it; defaults to true

Returns: StickyFault_DataAcquiredLate Status Signal Object

◆ GetStickyFault_Hardware()

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

Hardware fault occurred.

Default Value: False

Default Rates:

CAN: 4.0 Hz

This refreshes and returns a cached StatusSignal object.

Parameters

refresh Whether to refresh the StatusSignal before returning it; defaults to true

Returns: StickyFault_Hardware Status Signal Object

◆ GetStickyFault_LoopTimeSlow()

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

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.

Parameters

refresh Whether to refresh the StatusSignal before returning it; defaults to true

Returns: StickyFault_LoopTimeSlow Status Signal Object

◆ GetStickyFault_SaturatedAccelerometer()

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

Accelerometer values are saturated.

Default Value: False

Default Rates:

CAN: 4.0 Hz

This refreshes and returns a cached StatusSignal object.

Parameters

refresh Whether to refresh the StatusSignal before returning it; defaults to true

Returns: StickyFault_SaturatedAccelerometer Status Signal Object

◆ GetStickyFault_SaturatedGyroscope()

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

Gyroscope values are saturated.

Default Value: False

Default Rates:

CAN: 4.0 Hz

This refreshes and returns a cached StatusSignal object.

Parameters

refresh Whether to refresh the StatusSignal before returning it; defaults to true

Returns: StickyFault_SaturatedGyroscope Status Signal Object

◆ GetStickyFault_SaturatedMagnetometer()

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

Magnetometer values are saturated.

Default Value: False

Default Rates:

CAN: 4.0 Hz

This refreshes and returns a cached StatusSignal object.

Parameters

refresh Whether to refresh the StatusSignal before returning it; defaults to true

Returns: StickyFault_SaturatedMagnetometer Status Signal Object

◆ GetStickyFault_Undervoltage()

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

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.

Parameters

refresh Whether to refresh the StatusSignal before returning it; defaults to true

Returns: StickyFault_Undervoltage Status Signal Object

◆ GetStickyFault_UnlicensedFeatureInUse()

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

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.

Parameters

refresh Whether to refresh the StatusSignal before returning it; defaults to true

Returns: StickyFault_UnlicensedFeatureInUse Status Signal Object

◆ GetStickyFaultField()

StatusSignal< int > & ctre::phoenix6::hardware::core::CorePigeon2::GetStickyFaultField ( bool refresh = true )

Integer representing all (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: 4294967295
Default Value: 0
Units:

Default Rates:

CAN: 4.0 Hz

This refreshes and returns a cached StatusSignal object.

Parameters

refresh Whether to refresh the StatusSignal before returning it; defaults to true

Returns: StickyFaultField Status Signal Object

◆ GetSupplyVoltage()

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

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.

Parameters

refresh Whether to refresh the StatusSignal before returning it; defaults to true

Returns: SupplyVoltage Status Signal Object

◆ GetTemperature()

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

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.

Parameters

refresh Whether to refresh the StatusSignal before returning it; defaults to true

Returns: Temperature Status Signal Object

◆ GetTemperatureCompensationDisabled()

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

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.

Parameters

refresh Whether to refresh the StatusSignal before returning it; defaults to true

Returns: TemperatureCompensationDisabled Status Signal Object

◆ GetUpTime()

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

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.

Parameters

refresh Whether to refresh the StatusSignal before returning it; defaults to true

Returns: UpTime Status Signal Object

◆ GetVersion()

StatusSignal< int > & ctre::phoenix6::hardware::core::CorePigeon2::GetVersion ( bool refresh = true )

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.

Parameters

refresh Whether to refresh the StatusSignal before returning it; defaults to true

Returns: Version Status Signal Object

◆ GetVersionBugfix()

StatusSignal< int > & ctre::phoenix6::hardware::core::CorePigeon2::GetVersionBugfix ( bool refresh = true )

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.

Parameters

refresh Whether to refresh the StatusSignal before returning it; defaults to true

Returns: VersionBugfix Status Signal Object

◆ GetVersionBuild()

StatusSignal< int > & ctre::phoenix6::hardware::core::CorePigeon2::GetVersionBuild ( bool refresh = true )

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.

Parameters

refresh Whether to refresh the StatusSignal before returning it; defaults to true

Returns: VersionBuild Status Signal Object

◆ GetVersionMajor()

StatusSignal< int > & ctre::phoenix6::hardware::core::CorePigeon2::GetVersionMajor ( bool refresh = true )

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.

Parameters

refresh Whether to refresh the StatusSignal before returning it; defaults to true

Returns: VersionMajor Status Signal Object

◆ GetVersionMinor()

StatusSignal< int > & ctre::phoenix6::hardware::core::CorePigeon2::GetVersionMinor ( bool refresh = true )

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.

Parameters

refresh Whether to refresh the StatusSignal before returning it; defaults to true

Returns: VersionMinor Status Signal Object

◆ GetYaw()

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

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.

Parameters

refresh Whether to refresh the StatusSignal before returning it; defaults to true

Returns: Yaw Status Signal Object

◆ SetControl()

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

inline

Control device 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 0.100 seconds (100ms) 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 Types

Public Member Functions

Additional Inherited Members

Detailed Description

Member Typedef Documentation

◆ Configuration

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]

◆ ClearStickyFault_UnlicensedFeatureInUse() [1/2]

◆ ClearStickyFault_UnlicensedFeatureInUse() [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()