Package com.ctre.phoenix6.hardware.core

Class CorePigeon2

java.lang.Object
com.ctre.phoenix6.jni.CtreJniWrapper
com.ctre.phoenix6.hardware.ParentDevice
com.ctre.phoenix6.hardware.core.CorePigeon2
Direct Known Subclasses:
Pigeon2
public class CorePigeon2
extends ParentDevice
Class description for the Pigeon 2 IMU sensor that measures orientation. 
 // Constants used in Pigeon2 construction
 final int kPigeon2Id = 0;
 final String kPigeon2CANbus = "canivore";
 
 // Construct the Pigeon 2
 Pigeon2 pigeon = new Pigeon2(kPigeon2Id, kPigeon2CANbus);
 
 // Configure the Pigeon2 for basic use
 Pigeon2Configuration configs = new Pigeon2Configuration();
 // This Pigeon is mounted X-up, so we should mount-pose with Pitch at 90 degrees
 configs.MountPose.MountPoseYaw = 0;
 configs.MountPose.MountPosePitch = 90;
 configs.MountPose.MountPoseRoll = 0;
 // This Pigeon has no need to trim the gyro
 configs.GyroTrim.GyroScalarX = 0;
 configs.GyroTrim.GyroScalarY = 0;
 configs.GyroTrim.GyroScalarZ = 0;
 // We want the thermal comp and no-motion cal enabled, with the compass disabled for best behavior
 configs.Pigeon2Features.DisableNoMotionCalibration = false;
 configs.Pigeon2Features.DisableTemperatureCompensation = false;
 configs.Pigeon2Features.EnableCompass = false;
 
 // Write these configs to the Pigeon2
 pigeon.getConfigurator().apply(configs);
 
 // Set the yaw to 0 degrees for initial use
 pigeon.setYaw(0);
 
 // Get Yaw Pitch Roll StatusSignals
 var yaw = pigeon.getYaw();
 var pitch = pigeon.getPitch();
 var roll = pigeon.getRoll();
 
 // Refresh and print these values
 System.out.println("Yaw is " + yaw.refresh().toString());
 System.out.println("Pitch is " + pitch.refresh().toString());
 System.out.println("Roll is " + roll.refresh().toString());

  • Constructor Details

    • CorePigeon2

      public CorePigeon2​(int deviceId)
      Constructs a new Pigeon 2 sensor object.

      Constructs the device using the default CAN bus for the system:

      • "rio" on roboRIO
      • "can0" on Linux
      • "*" on Windows
      Parameters:
      deviceId - ID of the device, as configured in Phoenix Tuner.

    • CorePigeon2

      public CorePigeon2​(int deviceId, 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

  • Method Details

    • getConfigurator

      public Pigeon2Configurator getConfigurator()
      Gets the configurator to use with this device's configs
      Returns:
      Configurator for this object

    • getSimState

      public Pigeon2SimState getSimState()
      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

    • getVersionMajor

      public StatusSignal<Integer> 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

      public StatusSignal<Integer> 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

    • getVersionBugfix

      public StatusSignal<Integer> 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

      public StatusSignal<Integer> 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

    • getVersion

      public StatusSignal<Integer> 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

    • getFaultField

      public StatusSignal<Integer> 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

    • getStickyFaultField

      public StatusSignal<Integer> 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

    • getYaw

      public StatusSignal<Double> 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

    • getPitch

      public StatusSignal<Double> 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

    • getRoll

      public StatusSignal<Double> 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

    • getQuatW

      public StatusSignal<Double> 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

      public StatusSignal<Double> 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

      public StatusSignal<Double> 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

      public StatusSignal<Double> 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

    • getGravityVectorX

      public StatusSignal<Double> 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

      public StatusSignal<Double> 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

      public StatusSignal<Double> 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

    • getTemperature

      public StatusSignal<Double> 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

    • getNoMotionEnabled

      public StatusSignal<Boolean> 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

    • getNoMotionCount

      public StatusSignal<Double> 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

    • getTemperatureCompensationDisabled

      public StatusSignal<Boolean> 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

      public StatusSignal<Double> 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

    • getAccumGyroX

      public StatusSignal<Double> 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

      public StatusSignal<Double> 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

      public StatusSignal<Double> 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

    • getAngularVelocityXWorld

      public StatusSignal<Double> 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

    • getAngularVelocityYWorld

      public StatusSignal<Double> 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

    • getAngularVelocityZWorld

      public StatusSignal<Double> 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

    • getAccelerationX

      public StatusSignal<Double> 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

      public StatusSignal<Double> 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

      public StatusSignal<Double> 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

    • getSupplyVoltage

      public StatusSignal<Double> 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

    • getAngularVelocityXDevice

      public StatusSignal<Double> 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

    • getAngularVelocityYDevice

      public StatusSignal<Double> 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

    • getAngularVelocityZDevice

      public StatusSignal<Double> 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

    • getMagneticFieldX

      public StatusSignal<Double> 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

      public StatusSignal<Double> 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

      public StatusSignal<Double> 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

    • getRawMagneticFieldX

      public StatusSignal<Double> 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

      public StatusSignal<Double> 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

      public StatusSignal<Double> 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

    • getIsProLicensed

      public StatusSignal<Boolean> 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

    • getFault_Hardware

      public StatusSignal<Boolean> 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

    • getStickyFault_Hardware

      public StatusSignal<Boolean> 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

    • getFault_Undervoltage

      public StatusSignal<Boolean> 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

    • getStickyFault_Undervoltage

      public StatusSignal<Boolean> 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

    • getFault_BootDuringEnable

      public StatusSignal<Boolean> 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

    • getStickyFault_BootDuringEnable

      public StatusSignal<Boolean> 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

    • getFault_UnlicensedFeatureInUse

      public StatusSignal<Boolean> 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

    • getStickyFault_UnlicensedFeatureInUse

      public StatusSignal<Boolean> 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

    • getFault_BootupAccelerometer

      public StatusSignal<Boolean> 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

    • getStickyFault_BootupAccelerometer

      public StatusSignal<Boolean> 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

    • getFault_BootupGyroscope

      public StatusSignal<Boolean> 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

    • getStickyFault_BootupGyroscope

      public StatusSignal<Boolean> 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

    • getFault_BootupMagnetometer

      public StatusSignal<Boolean> 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

    • getStickyFault_BootupMagnetometer

      public StatusSignal<Boolean> 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

    • getFault_BootIntoMotion

      public StatusSignal<Boolean> 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

    • getStickyFault_BootIntoMotion

      public StatusSignal<Boolean> 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

    • getFault_DataAcquiredLate

      public StatusSignal<Boolean> 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

    • getStickyFault_DataAcquiredLate

      public StatusSignal<Boolean> 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

    • getFault_LoopTimeSlow

      public StatusSignal<Boolean> 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

    • getStickyFault_LoopTimeSlow

      public StatusSignal<Boolean> 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

    • getFault_SaturatedMagnetometer

      public StatusSignal<Boolean> 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

    • getStickyFault_SaturatedMagnetometer

      public StatusSignal<Boolean> 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

    • getFault_SaturatedAccelerometer

      public StatusSignal<Boolean> 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

    • getStickyFault_SaturatedAccelerometer

      public StatusSignal<Boolean> 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

    • getFault_SaturatedGyroscope

      public StatusSignal<Boolean> 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

    • getStickyFault_SaturatedGyroscope

      public StatusSignal<Boolean> 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

    • setControl

      public StatusCode setControl​(ControlRequest request)
      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

      public StatusCode setYaw​(double newValue, double timeoutSeconds)
      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

    • setYaw

      public StatusCode setYaw​(double newValue)
      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

    • clearStickyFaults

      public StatusCode clearStickyFaults​(double timeoutSeconds)
      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

    • clearStickyFaults

      public StatusCode clearStickyFaults()
      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

    • clearStickyFault_Hardware

      public StatusCode clearStickyFault_Hardware​(double timeoutSeconds)
      Clear sticky fault: Hardware fault occurred
      Parameters:
      timeoutSeconds - Maximum time to wait up to in seconds.
      Returns:
      StatusCode of the set command

    • clearStickyFault_Hardware

      public StatusCode clearStickyFault_Hardware()
      Clear sticky fault: Hardware fault occurred

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

      Returns:
      StatusCode of the set command

    • clearStickyFault_Undervoltage

      public StatusCode clearStickyFault_Undervoltage​(double timeoutSeconds)
      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_Undervoltage

      public StatusCode clearStickyFault_Undervoltage()
      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_BootDuringEnable

      public StatusCode clearStickyFault_BootDuringEnable​(double timeoutSeconds)
      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_BootDuringEnable

      public StatusCode clearStickyFault_BootDuringEnable()
      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_BootupAccelerometer

      public StatusCode clearStickyFault_BootupAccelerometer​(double timeoutSeconds)
      Clear sticky fault: Bootup checks failed: Accelerometer
      Parameters:
      timeoutSeconds - Maximum time to wait up to in seconds.
      Returns:
      StatusCode of the set command

    • clearStickyFault_BootupAccelerometer

      public StatusCode clearStickyFault_BootupAccelerometer()
      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_BootupGyroscope

      public StatusCode clearStickyFault_BootupGyroscope​(double timeoutSeconds)
      Clear sticky fault: Bootup checks failed: Gyroscope
      Parameters:
      timeoutSeconds - Maximum time to wait up to in seconds.
      Returns:
      StatusCode of the set command

    • clearStickyFault_BootupGyroscope

      public StatusCode clearStickyFault_BootupGyroscope()
      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_BootupMagnetometer

      public StatusCode clearStickyFault_BootupMagnetometer​(double timeoutSeconds)
      Clear sticky fault: Bootup checks failed: Magnetometer
      Parameters:
      timeoutSeconds - Maximum time to wait up to in seconds.
      Returns:
      StatusCode of the set command

    • clearStickyFault_BootupMagnetometer

      public StatusCode clearStickyFault_BootupMagnetometer()
      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_BootIntoMotion

      public StatusCode clearStickyFault_BootIntoMotion​(double timeoutSeconds)
      Clear sticky fault: Motion Detected during bootup.
      Parameters:
      timeoutSeconds - Maximum time to wait up to in seconds.
      Returns:
      StatusCode of the set command

    • clearStickyFault_BootIntoMotion

      public StatusCode clearStickyFault_BootIntoMotion()
      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_DataAcquiredLate

      public StatusCode clearStickyFault_DataAcquiredLate​(double timeoutSeconds)
      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_DataAcquiredLate

      public StatusCode clearStickyFault_DataAcquiredLate()
      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_LoopTimeSlow

      public StatusCode clearStickyFault_LoopTimeSlow​(double timeoutSeconds)
      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_LoopTimeSlow

      public StatusCode clearStickyFault_LoopTimeSlow()
      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_SaturatedMagnetometer

      public StatusCode clearStickyFault_SaturatedMagnetometer​(double timeoutSeconds)
      Clear sticky fault: Magnetometer values are saturated
      Parameters:
      timeoutSeconds - Maximum time to wait up to in seconds.
      Returns:
      StatusCode of the set command

    • clearStickyFault_SaturatedMagnetometer

      public StatusCode clearStickyFault_SaturatedMagnetometer()
      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_SaturatedAccelerometer

      public StatusCode clearStickyFault_SaturatedAccelerometer​(double timeoutSeconds)
      Clear sticky fault: Accelerometer values are saturated
      Parameters:
      timeoutSeconds - Maximum time to wait up to in seconds.
      Returns:
      StatusCode of the set command

    • clearStickyFault_SaturatedAccelerometer

      public StatusCode clearStickyFault_SaturatedAccelerometer()
      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_SaturatedGyroscope

      public StatusCode clearStickyFault_SaturatedGyroscope​(double timeoutSeconds)
      Clear sticky fault: Gyroscope values are saturated
      Parameters:
      timeoutSeconds - Maximum time to wait up to in seconds.
      Returns:
      StatusCode of the set command

    • clearStickyFault_SaturatedGyroscope

      public StatusCode clearStickyFault_SaturatedGyroscope()
      Clear sticky fault: Gyroscope values are saturated

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

      Returns:
      StatusCode of the set command