phoenix6.configs.pigeon2_configs#

Module Contents#

class phoenix6.configs.pigeon2_configs.Pigeon2Configuration#

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

This handles the configurations for Pigeon2

future_proof_configs: bool = True#

True if we should factory default newer unsupported configs, false to leave newer unsupported configs alone.

This flag addresses a corner case where the device may have firmware with newer configs that didn’t exist when this version of the API was built. If this occurs and this flag is true, unsupported new configs will be factory defaulted to avoid unexpected behavior.

This is also the behavior in Phoenix 5, so this flag is defaulted to true to match.

mount_pose: phoenix6.configs.config_groups.MountPoseConfigs#

Configs for Pigeon 2’s Mount Pose configuration.

These configs allow the Pigeon2 to be mounted in whatever orientation that’s desired and ensure the reported Yaw/Pitch/Roll is from the robot’s reference.

gyro_trim: phoenix6.configs.config_groups.GyroTrimConfigs#

Configs to trim the Pigeon2’s gyroscope.

Pigeon2 allows the user to trim the gyroscope’s sensitivity. While this isn’t necessary for the Pigeon2, as it comes calibrated out-of-the-box, users can make use of this to make the Pigeon2 even more accurate for their application.

pigeon2_features: phoenix6.configs.config_groups.Pigeon2FeaturesConfigs#

Configs to enable/disable various features of the Pigeon2.

These configs allow the user to enable or disable various aspects of the Pigeon2.

with_mount_pose(new_mount_pose: phoenix6.configs.config_groups.MountPoseConfigs) Pigeon2Configuration#

Modifies this configuration’s mount_pose parameter and returns itself for method-chaining and easier to use config API.

Parameters:

new_mount_pose (MountPoseConfigs) – Parameter to modify

Returns:

Itself

Return type:

Pigeon2Configuration

with_gyro_trim(new_gyro_trim: phoenix6.configs.config_groups.GyroTrimConfigs) Pigeon2Configuration#

Modifies this configuration’s gyro_trim parameter and returns itself for method-chaining and easier to use config API.

Parameters:

new_gyro_trim (GyroTrimConfigs) – Parameter to modify

Returns:

Itself

Return type:

Pigeon2Configuration

with_pigeon2_features(new_pigeon2_features: phoenix6.configs.config_groups.Pigeon2FeaturesConfigs) Pigeon2Configuration#

Modifies this configuration’s pigeon2_features parameter and returns itself for method-chaining and easier to use config API.

Parameters:

new_pigeon2_features (Pigeon2FeaturesConfigs) – Parameter to modify

Returns:

Itself

Return type:

Pigeon2Configuration

serialize() str#

Get the serialized form of this configuration

Returns:

Serialized form of this config group

Return type:

str

deserialize(to_deserialize: str) phoenix6.status_code.StatusCode#

Take a string and deserialize it to this configuration

Returns:

Return code of the deserialize method

Return type:

str

class phoenix6.configs.pigeon2_configs.Pigeon2Configurator(id: phoenix6.hardware.device_identifier.DeviceIdentifier)#

Bases: phoenix6.configs.parent_configurator.ParentConfigurator

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

    This handles the configurations for Pigeon2

refresh(configs: phoenix6.configs.config_groups.SupportsSerialization, timeout_seconds: phoenix6.units.second = 0.05) phoenix6.status_code.StatusCode#

Refreshes the values of the specified config group.

Call to refresh the selected configs from the device.

Parameters:
  • configs (name) – The configs to refresh

  • timeout_seconds (second) – Maximum amount of time to wait when performing configuration

Returns:

StatusCode of refreshing the configs

Return type:

StatusCode

apply(configs: phoenix6.configs.config_groups.SupportsSerialization, timeout_seconds: phoenix6.units.second = 0.05) phoenix6.status_code.StatusCode#

Applies the contents of the specified config to the device.

Call to apply the selected configs.

Parameters:
  • configs (SupportsSerialization) – Configs to apply

  • timeout_seconds (second) – Maximum amount of time to wait when performing configuration

Returns:

StatusCode of the apply method

Return type:

StatusCode

set_yaw(new_value: phoenix6.units.degree, timeout_seconds: phoenix6.units.second = 0.05) phoenix6.status_code.StatusCode#

The yaw to set the Pigeon2 to right now.

This is available in the configurator in case the user wants to initialize their device entirely without passing a device reference down to the code that performs the initialization. In this case, the user passes down the configurator object and performs all the initialization code on the object.

Parameters:
  • new_value (degree) – Value to set to. Units are in deg.

  • timeout_seconds (second) – Maximum time to wait up to in seconds.

Returns:

StatusCode of the set command

Return type:

StatusCode

clear_sticky_faults(timeout_seconds: phoenix6.units.second = 0.05) phoenix6.status_code.StatusCode#

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 is available in the configurator in case the user wants to initialize their device entirely without passing a device reference down to the code that performs the initialization. In this case, the user passes down the configurator object and performs all the initialization code on the object.

Parameters:

timeout_seconds (second) – Maximum time to wait up to in seconds.

Returns:

StatusCode of the set command

Return type:

StatusCode

clear_sticky_fault_hardware(timeout_seconds: phoenix6.units.second = 0.05) phoenix6.status_code.StatusCode#

Clear sticky fault: Hardware fault occurred

This is available in the configurator in case the user wants to initialize their device entirely without passing a device reference down to the code that performs the initialization. In this case, the user passes down the configurator object and performs all the initialization code on the object.

Parameters:

timeout_seconds (second) – Maximum time to wait up to in seconds.

Returns:

StatusCode of the set command

Return type:

StatusCode

clear_sticky_fault_undervoltage(timeout_seconds: phoenix6.units.second = 0.05) phoenix6.status_code.StatusCode#

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

This is available in the configurator in case the user wants to initialize their device entirely without passing a device reference down to the code that performs the initialization. In this case, the user passes down the configurator object and performs all the initialization code on the object.

Parameters:

timeout_seconds (second) – Maximum time to wait up to in seconds.

Returns:

StatusCode of the set command

Return type:

StatusCode

clear_sticky_fault_boot_during_enable(timeout_seconds: phoenix6.units.second = 0.05) phoenix6.status_code.StatusCode#

Clear sticky fault: Device boot while detecting the enable signal

This is available in the configurator in case the user wants to initialize their device entirely without passing a device reference down to the code that performs the initialization. In this case, the user passes down the configurator object and performs all the initialization code on the object.

Parameters:

timeout_seconds (second) – Maximum time to wait up to in seconds.

Returns:

StatusCode of the set command

Return type:

StatusCode

clear_sticky_fault_bootup_accelerometer(timeout_seconds: phoenix6.units.second = 0.05) phoenix6.status_code.StatusCode#

Clear sticky fault: Bootup checks failed: Accelerometer

This is available in the configurator in case the user wants to initialize their device entirely without passing a device reference down to the code that performs the initialization. In this case, the user passes down the configurator object and performs all the initialization code on the object.

Parameters:

timeout_seconds (second) – Maximum time to wait up to in seconds.

Returns:

StatusCode of the set command

Return type:

StatusCode

clear_sticky_fault_bootup_gyroscope(timeout_seconds: phoenix6.units.second = 0.05) phoenix6.status_code.StatusCode#

Clear sticky fault: Bootup checks failed: Gyroscope

This is available in the configurator in case the user wants to initialize their device entirely without passing a device reference down to the code that performs the initialization. In this case, the user passes down the configurator object and performs all the initialization code on the object.

Parameters:

timeout_seconds (second) – Maximum time to wait up to in seconds.

Returns:

StatusCode of the set command

Return type:

StatusCode

clear_sticky_fault_bootup_magnetometer(timeout_seconds: phoenix6.units.second = 0.05) phoenix6.status_code.StatusCode#

Clear sticky fault: Bootup checks failed: Magnetometer

This is available in the configurator in case the user wants to initialize their device entirely without passing a device reference down to the code that performs the initialization. In this case, the user passes down the configurator object and performs all the initialization code on the object.

Parameters:

timeout_seconds (second) – Maximum time to wait up to in seconds.

Returns:

StatusCode of the set command

Return type:

StatusCode

clear_sticky_fault_boot_into_motion(timeout_seconds: phoenix6.units.second = 0.05) phoenix6.status_code.StatusCode#

Clear sticky fault: Motion Detected during bootup.

This is available in the configurator in case the user wants to initialize their device entirely without passing a device reference down to the code that performs the initialization. In this case, the user passes down the configurator object and performs all the initialization code on the object.

Parameters:

timeout_seconds (second) – Maximum time to wait up to in seconds.

Returns:

StatusCode of the set command

Return type:

StatusCode

clear_sticky_fault_data_acquired_late(timeout_seconds: phoenix6.units.second = 0.05) phoenix6.status_code.StatusCode#

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

This is available in the configurator in case the user wants to initialize their device entirely without passing a device reference down to the code that performs the initialization. In this case, the user passes down the configurator object and performs all the initialization code on the object.

Parameters:

timeout_seconds (second) – Maximum time to wait up to in seconds.

Returns:

StatusCode of the set command

Return type:

StatusCode

clear_sticky_fault_loop_time_slow(timeout_seconds: phoenix6.units.second = 0.05) phoenix6.status_code.StatusCode#

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

This is available in the configurator in case the user wants to initialize their device entirely without passing a device reference down to the code that performs the initialization. In this case, the user passes down the configurator object and performs all the initialization code on the object.

Parameters:

timeout_seconds (second) – Maximum time to wait up to in seconds.

Returns:

StatusCode of the set command

Return type:

StatusCode

clear_sticky_fault_saturated_magnetometer(timeout_seconds: phoenix6.units.second = 0.05) phoenix6.status_code.StatusCode#

Clear sticky fault: Magnetometer values are saturated

This is available in the configurator in case the user wants to initialize their device entirely without passing a device reference down to the code that performs the initialization. In this case, the user passes down the configurator object and performs all the initialization code on the object.

Parameters:

timeout_seconds (second) – Maximum time to wait up to in seconds.

Returns:

StatusCode of the set command

Return type:

StatusCode

clear_sticky_fault_saturated_accelerometer(timeout_seconds: phoenix6.units.second = 0.05) phoenix6.status_code.StatusCode#

Clear sticky fault: Accelerometer values are saturated

This is available in the configurator in case the user wants to initialize their device entirely without passing a device reference down to the code that performs the initialization. In this case, the user passes down the configurator object and performs all the initialization code on the object.

Parameters:

timeout_seconds (second) – Maximum time to wait up to in seconds.

Returns:

StatusCode of the set command

Return type:

StatusCode

clear_sticky_fault_saturated_gyroscope(timeout_seconds: phoenix6.units.second = 0.05) phoenix6.status_code.StatusCode#

Clear sticky fault: Gyroscope values are saturated

This is available in the configurator in case the user wants to initialize their device entirely without passing a device reference down to the code that performs the initialization. In this case, the user passes down the configurator object and performs all the initialization code on the object.

Parameters:

timeout_seconds (second) – Maximum time to wait up to in seconds.

Returns:

StatusCode of the set command

Return type:

StatusCode