phoenix6.hardware.core.core_pigeon2
¶
Module Contents¶
- class phoenix6.hardware.core.core_pigeon2.CorePigeon2(device_id: int, canbus: str | phoenix6.canbus.CANBus = '')¶
Bases:
phoenix6.hardware.parent_device.ParentDevice
Constructs a new Pigeon 2 sensor object.
- Parameters:
device_id (int) – ID of the device, as configured in Phoenix Tuner.
canbus (str | CANBus, optional) –
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
- property sim_state: phoenix6.sim.pigeon2_sim_state.Pigeon2SimState¶
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
- Return type:
- get_version_major(refresh: bool = True) phoenix6.status_signal.StatusSignal[int] ¶
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 (bool) – Whether to refresh the StatusSignal before returning it; defaults to true
- Returns:
VersionMajor Status Signal Object
- Return type:
StatusSignal[int]
- get_version_minor(refresh: bool = True) phoenix6.status_signal.StatusSignal[int] ¶
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 (bool) – Whether to refresh the StatusSignal before returning it; defaults to true
- Returns:
VersionMinor Status Signal Object
- Return type:
StatusSignal[int]
- get_version_bugfix(refresh: bool = True) phoenix6.status_signal.StatusSignal[int] ¶
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 (bool) – Whether to refresh the StatusSignal before returning it; defaults to true
- Returns:
VersionBugfix Status Signal Object
- Return type:
StatusSignal[int]
- get_version_build(refresh: bool = True) phoenix6.status_signal.StatusSignal[int] ¶
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 (bool) – Whether to refresh the StatusSignal before returning it; defaults to true
- Returns:
VersionBuild Status Signal Object
- Return type:
StatusSignal[int]
- get_version(refresh: bool = True) phoenix6.status_signal.StatusSignal[int] ¶
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 (bool) – Whether to refresh the StatusSignal before returning it; defaults to true
- Returns:
Version Status Signal Object
- Return type:
StatusSignal[int]
- get_fault_field(refresh: bool = True) phoenix6.status_signal.StatusSignal[int] ¶
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 (bool) – Whether to refresh the StatusSignal before returning it; defaults to true
- Returns:
FaultField Status Signal Object
- Return type:
StatusSignal[int]
- get_sticky_fault_field(refresh: bool = True) phoenix6.status_signal.StatusSignal[int] ¶
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 (bool) – Whether to refresh the StatusSignal before returning it; defaults to true
- Returns:
StickyFaultField Status Signal Object
- Return type:
StatusSignal[int]
- get_yaw(refresh: bool = True) phoenix6.status_signal.StatusSignal[phoenix6.units.degree] ¶
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 (bool) – Whether to refresh the StatusSignal before returning it; defaults to true
- Returns:
Yaw Status Signal Object
- Return type:
StatusSignal[degree]
- get_pitch(refresh: bool = True) phoenix6.status_signal.StatusSignal[phoenix6.units.degree] ¶
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 (bool) – Whether to refresh the StatusSignal before returning it; defaults to true
- Returns:
Pitch Status Signal Object
- Return type:
StatusSignal[degree]
- get_roll(refresh: bool = True) phoenix6.status_signal.StatusSignal[phoenix6.units.degree] ¶
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 (bool) – Whether to refresh the StatusSignal before returning it; defaults to true
- Returns:
Roll Status Signal Object
- Return type:
StatusSignal[degree]
- get_quat_w(refresh: bool = True) phoenix6.status_signal.StatusSignal[float] ¶
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 (bool) – Whether to refresh the StatusSignal before returning it; defaults to true
- Returns:
QuatW Status Signal Object
- Return type:
StatusSignal[float]
- get_quat_x(refresh: bool = True) phoenix6.status_signal.StatusSignal[float] ¶
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 (bool) – Whether to refresh the StatusSignal before returning it; defaults to true
- Returns:
QuatX Status Signal Object
- Return type:
StatusSignal[float]
- get_quat_y(refresh: bool = True) phoenix6.status_signal.StatusSignal[float] ¶
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 (bool) – Whether to refresh the StatusSignal before returning it; defaults to true
- Returns:
QuatY Status Signal Object
- Return type:
StatusSignal[float]
- get_quat_z(refresh: bool = True) phoenix6.status_signal.StatusSignal[float] ¶
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 (bool) – Whether to refresh the StatusSignal before returning it; defaults to true
- Returns:
QuatZ Status Signal Object
- Return type:
StatusSignal[float]
- get_gravity_vector_x(refresh: bool = True) phoenix6.status_signal.StatusSignal[float] ¶
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 (bool) – Whether to refresh the StatusSignal before returning it; defaults to true
- Returns:
GravityVectorX Status Signal Object
- Return type:
StatusSignal[float]
- get_gravity_vector_y(refresh: bool = True) phoenix6.status_signal.StatusSignal[float] ¶
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 (bool) – Whether to refresh the StatusSignal before returning it; defaults to true
- Returns:
GravityVectorY Status Signal Object
- Return type:
StatusSignal[float]
- get_gravity_vector_z(refresh: bool = True) phoenix6.status_signal.StatusSignal[float] ¶
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 (bool) – Whether to refresh the StatusSignal before returning it; defaults to true
- Returns:
GravityVectorZ Status Signal Object
- Return type:
StatusSignal[float]
- get_temperature(refresh: bool = True) phoenix6.status_signal.StatusSignal[phoenix6.units.celsius] ¶
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 (bool) – Whether to refresh the StatusSignal before returning it; defaults to true
- Returns:
Temperature Status Signal Object
- Return type:
StatusSignal[celsius]
- get_no_motion_enabled(refresh: bool = True) phoenix6.status_signal.StatusSignal[bool] ¶
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 (bool) – Whether to refresh the StatusSignal before returning it; defaults to true
- Returns:
NoMotionEnabled Status Signal Object
- Return type:
StatusSignal[bool]
- get_no_motion_count(refresh: bool = True) phoenix6.status_signal.StatusSignal[float] ¶
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 (bool) – Whether to refresh the StatusSignal before returning it; defaults to true
- Returns:
NoMotionCount Status Signal Object
- Return type:
StatusSignal[float]
- get_temperature_compensation_disabled(refresh: bool = True) phoenix6.status_signal.StatusSignal[bool] ¶
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 (bool) – Whether to refresh the StatusSignal before returning it; defaults to true
- Returns:
TemperatureCompensationDisabled Status Signal Object
- Return type:
StatusSignal[bool]
- get_up_time(refresh: bool = True) phoenix6.status_signal.StatusSignal[phoenix6.units.second] ¶
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 (bool) – Whether to refresh the StatusSignal before returning it; defaults to true
- Returns:
UpTime Status Signal Object
- Return type:
StatusSignal[second]
- get_accum_gyro_x(refresh: bool = True) phoenix6.status_signal.StatusSignal[phoenix6.units.degree] ¶
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 (bool) – Whether to refresh the StatusSignal before returning it; defaults to true
- Returns:
AccumGyroX Status Signal Object
- Return type:
StatusSignal[degree]
- get_accum_gyro_y(refresh: bool = True) phoenix6.status_signal.StatusSignal[phoenix6.units.degree] ¶
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 (bool) – Whether to refresh the StatusSignal before returning it; defaults to true
- Returns:
AccumGyroY Status Signal Object
- Return type:
StatusSignal[degree]
- get_accum_gyro_z(refresh: bool = True) phoenix6.status_signal.StatusSignal[phoenix6.units.degree] ¶
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 (bool) – Whether to refresh the StatusSignal before returning it; defaults to true
- Returns:
AccumGyroZ Status Signal Object
- Return type:
StatusSignal[degree]
- get_angular_velocity_x_world(refresh: bool = True) phoenix6.status_signal.StatusSignal[phoenix6.units.degrees_per_second] ¶
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 (bool) – Whether to refresh the StatusSignal before returning it; defaults to true
- Returns:
AngularVelocityXWorld Status Signal Object
- Return type:
StatusSignal[degrees_per_second]
- get_angular_velocity_y_world(refresh: bool = True) phoenix6.status_signal.StatusSignal[phoenix6.units.degrees_per_second] ¶
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 (bool) – Whether to refresh the StatusSignal before returning it; defaults to true
- Returns:
AngularVelocityYWorld Status Signal Object
- Return type:
StatusSignal[degrees_per_second]
- get_angular_velocity_z_world(refresh: bool = True) phoenix6.status_signal.StatusSignal[phoenix6.units.degrees_per_second] ¶
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 (bool) – Whether to refresh the StatusSignal before returning it; defaults to true
- Returns:
AngularVelocityZWorld Status Signal Object
- Return type:
StatusSignal[degrees_per_second]
- get_acceleration_x(refresh: bool = True) phoenix6.status_signal.StatusSignal[phoenix6.units.g] ¶
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 (bool) – Whether to refresh the StatusSignal before returning it; defaults to true
- Returns:
AccelerationX Status Signal Object
- Return type:
StatusSignal[g]
- get_acceleration_y(refresh: bool = True) phoenix6.status_signal.StatusSignal[phoenix6.units.g] ¶
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 (bool) – Whether to refresh the StatusSignal before returning it; defaults to true
- Returns:
AccelerationY Status Signal Object
- Return type:
StatusSignal[g]
- get_acceleration_z(refresh: bool = True) phoenix6.status_signal.StatusSignal[phoenix6.units.g] ¶
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 (bool) – Whether to refresh the StatusSignal before returning it; defaults to true
- Returns:
AccelerationZ Status Signal Object
- Return type:
StatusSignal[g]
- get_supply_voltage(refresh: bool = True) phoenix6.status_signal.StatusSignal[phoenix6.units.volt] ¶
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 (bool) – Whether to refresh the StatusSignal before returning it; defaults to true
- Returns:
SupplyVoltage Status Signal Object
- Return type:
StatusSignal[volt]
- get_angular_velocity_x_device(refresh: bool = True) phoenix6.status_signal.StatusSignal[phoenix6.units.degrees_per_second] ¶
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 (bool) – Whether to refresh the StatusSignal before returning it; defaults to true
- Returns:
AngularVelocityXDevice Status Signal Object
- Return type:
StatusSignal[degrees_per_second]
- get_angular_velocity_y_device(refresh: bool = True) phoenix6.status_signal.StatusSignal[phoenix6.units.degrees_per_second] ¶
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 (bool) – Whether to refresh the StatusSignal before returning it; defaults to true
- Returns:
AngularVelocityYDevice Status Signal Object
- Return type:
StatusSignal[degrees_per_second]
- get_angular_velocity_z_device(refresh: bool = True) phoenix6.status_signal.StatusSignal[phoenix6.units.degrees_per_second] ¶
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 (bool) – Whether to refresh the StatusSignal before returning it; defaults to true
- Returns:
AngularVelocityZDevice Status Signal Object
- Return type:
StatusSignal[degrees_per_second]
- get_magnetic_field_x(refresh: bool = True) phoenix6.status_signal.StatusSignal[phoenix6.units.microtesla] ¶
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 (bool) – Whether to refresh the StatusSignal before returning it; defaults to true
- Returns:
MagneticFieldX Status Signal Object
- Return type:
StatusSignal[microtesla]
- get_magnetic_field_y(refresh: bool = True) phoenix6.status_signal.StatusSignal[phoenix6.units.microtesla] ¶
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 (bool) – Whether to refresh the StatusSignal before returning it; defaults to true
- Returns:
MagneticFieldY Status Signal Object
- Return type:
StatusSignal[microtesla]
- get_magnetic_field_z(refresh: bool = True) phoenix6.status_signal.StatusSignal[phoenix6.units.microtesla] ¶
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 (bool) – Whether to refresh the StatusSignal before returning it; defaults to true
- Returns:
MagneticFieldZ Status Signal Object
- Return type:
StatusSignal[microtesla]
- get_raw_magnetic_field_x(refresh: bool = True) phoenix6.status_signal.StatusSignal[phoenix6.units.microtesla] ¶
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 (bool) – Whether to refresh the StatusSignal before returning it; defaults to true
- Returns:
RawMagneticFieldX Status Signal Object
- Return type:
StatusSignal[microtesla]
- get_raw_magnetic_field_y(refresh: bool = True) phoenix6.status_signal.StatusSignal[phoenix6.units.microtesla] ¶
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 (bool) – Whether to refresh the StatusSignal before returning it; defaults to true
- Returns:
RawMagneticFieldY Status Signal Object
- Return type:
StatusSignal[microtesla]
- get_raw_magnetic_field_z(refresh: bool = True) phoenix6.status_signal.StatusSignal[phoenix6.units.microtesla] ¶
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 (bool) – Whether to refresh the StatusSignal before returning it; defaults to true
- Returns:
RawMagneticFieldZ Status Signal Object
- Return type:
StatusSignal[microtesla]
- get_is_pro_licensed(refresh: bool = True) phoenix6.status_signal.StatusSignal[bool] ¶
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 (bool) – Whether to refresh the StatusSignal before returning it; defaults to true
- Returns:
IsProLicensed Status Signal Object
- Return type:
StatusSignal[bool]
- get_fault_hardware(refresh: bool = True) phoenix6.status_signal.StatusSignal[bool] ¶
Hardware fault occurred
Default Value: False
Default Rates: - CAN: 4.0 Hz
This refreshes and returns a cached StatusSignal object.
- Parameters:
refresh (bool) – Whether to refresh the StatusSignal before returning it; defaults to true
- Returns:
Fault_Hardware Status Signal Object
- Return type:
StatusSignal[bool]
- get_sticky_fault_hardware(refresh: bool = True) phoenix6.status_signal.StatusSignal[bool] ¶
Hardware fault occurred
Default Value: False
Default Rates: - CAN: 4.0 Hz
This refreshes and returns a cached StatusSignal object.
- Parameters:
refresh (bool) – Whether to refresh the StatusSignal before returning it; defaults to true
- Returns:
StickyFault_Hardware Status Signal Object
- Return type:
StatusSignal[bool]
- get_fault_undervoltage(refresh: bool = True) phoenix6.status_signal.StatusSignal[bool] ¶
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 (bool) – Whether to refresh the StatusSignal before returning it; defaults to true
- Returns:
Fault_Undervoltage Status Signal Object
- Return type:
StatusSignal[bool]
- get_sticky_fault_undervoltage(refresh: bool = True) phoenix6.status_signal.StatusSignal[bool] ¶
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 (bool) – Whether to refresh the StatusSignal before returning it; defaults to true
- Returns:
StickyFault_Undervoltage Status Signal Object
- Return type:
StatusSignal[bool]
- get_fault_boot_during_enable(refresh: bool = True) phoenix6.status_signal.StatusSignal[bool] ¶
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 (bool) – Whether to refresh the StatusSignal before returning it; defaults to true
- Returns:
Fault_BootDuringEnable Status Signal Object
- Return type:
StatusSignal[bool]
- get_sticky_fault_boot_during_enable(refresh: bool = True) phoenix6.status_signal.StatusSignal[bool] ¶
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 (bool) – Whether to refresh the StatusSignal before returning it; defaults to true
- Returns:
StickyFault_BootDuringEnable Status Signal Object
- Return type:
StatusSignal[bool]
- get_fault_unlicensed_feature_in_use(refresh: bool = True) phoenix6.status_signal.StatusSignal[bool] ¶
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 (bool) – Whether to refresh the StatusSignal before returning it; defaults to true
- Returns:
Fault_UnlicensedFeatureInUse Status Signal Object
- Return type:
StatusSignal[bool]
- get_sticky_fault_unlicensed_feature_in_use(refresh: bool = True) phoenix6.status_signal.StatusSignal[bool] ¶
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 (bool) – Whether to refresh the StatusSignal before returning it; defaults to true
- Returns:
StickyFault_UnlicensedFeatureInUse Status Signal Object
- Return type:
StatusSignal[bool]
- get_fault_bootup_accelerometer(refresh: bool = True) phoenix6.status_signal.StatusSignal[bool] ¶
Bootup checks failed: Accelerometer
Default Value: False
Default Rates: - CAN: 4.0 Hz
This refreshes and returns a cached StatusSignal object.
- Parameters:
refresh (bool) – Whether to refresh the StatusSignal before returning it; defaults to true
- Returns:
Fault_BootupAccelerometer Status Signal Object
- Return type:
StatusSignal[bool]
- get_sticky_fault_bootup_accelerometer(refresh: bool = True) phoenix6.status_signal.StatusSignal[bool] ¶
Bootup checks failed: Accelerometer
Default Value: False
Default Rates: - CAN: 4.0 Hz
This refreshes and returns a cached StatusSignal object.
- Parameters:
refresh (bool) – Whether to refresh the StatusSignal before returning it; defaults to true
- Returns:
StickyFault_BootupAccelerometer Status Signal Object
- Return type:
StatusSignal[bool]
- get_fault_bootup_gyroscope(refresh: bool = True) phoenix6.status_signal.StatusSignal[bool] ¶
Bootup checks failed: Gyroscope
Default Value: False
Default Rates: - CAN: 4.0 Hz
This refreshes and returns a cached StatusSignal object.
- Parameters:
refresh (bool) – Whether to refresh the StatusSignal before returning it; defaults to true
- Returns:
Fault_BootupGyroscope Status Signal Object
- Return type:
StatusSignal[bool]
- get_sticky_fault_bootup_gyroscope(refresh: bool = True) phoenix6.status_signal.StatusSignal[bool] ¶
Bootup checks failed: Gyroscope
Default Value: False
Default Rates: - CAN: 4.0 Hz
This refreshes and returns a cached StatusSignal object.
- Parameters:
refresh (bool) – Whether to refresh the StatusSignal before returning it; defaults to true
- Returns:
StickyFault_BootupGyroscope Status Signal Object
- Return type:
StatusSignal[bool]
- get_fault_bootup_magnetometer(refresh: bool = True) phoenix6.status_signal.StatusSignal[bool] ¶
Bootup checks failed: Magnetometer
Default Value: False
Default Rates: - CAN: 4.0 Hz
This refreshes and returns a cached StatusSignal object.
- Parameters:
refresh (bool) – Whether to refresh the StatusSignal before returning it; defaults to true
- Returns:
Fault_BootupMagnetometer Status Signal Object
- Return type:
StatusSignal[bool]
- get_sticky_fault_bootup_magnetometer(refresh: bool = True) phoenix6.status_signal.StatusSignal[bool] ¶
Bootup checks failed: Magnetometer
Default Value: False
Default Rates: - CAN: 4.0 Hz
This refreshes and returns a cached StatusSignal object.
- Parameters:
refresh (bool) – Whether to refresh the StatusSignal before returning it; defaults to true
- Returns:
StickyFault_BootupMagnetometer Status Signal Object
- Return type:
StatusSignal[bool]
- get_fault_boot_into_motion(refresh: bool = True) phoenix6.status_signal.StatusSignal[bool] ¶
Motion Detected during bootup.
Default Value: False
Default Rates: - CAN: 4.0 Hz
This refreshes and returns a cached StatusSignal object.
- Parameters:
refresh (bool) – Whether to refresh the StatusSignal before returning it; defaults to true
- Returns:
Fault_BootIntoMotion Status Signal Object
- Return type:
StatusSignal[bool]
- get_sticky_fault_boot_into_motion(refresh: bool = True) phoenix6.status_signal.StatusSignal[bool] ¶
Motion Detected during bootup.
Default Value: False
Default Rates: - CAN: 4.0 Hz
This refreshes and returns a cached StatusSignal object.
- Parameters:
refresh (bool) – Whether to refresh the StatusSignal before returning it; defaults to true
- Returns:
StickyFault_BootIntoMotion Status Signal Object
- Return type:
StatusSignal[bool]
- get_fault_data_acquired_late(refresh: bool = True) phoenix6.status_signal.StatusSignal[bool] ¶
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 (bool) – Whether to refresh the StatusSignal before returning it; defaults to true
- Returns:
Fault_DataAcquiredLate Status Signal Object
- Return type:
StatusSignal[bool]
- get_sticky_fault_data_acquired_late(refresh: bool = True) phoenix6.status_signal.StatusSignal[bool] ¶
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 (bool) – Whether to refresh the StatusSignal before returning it; defaults to true
- Returns:
StickyFault_DataAcquiredLate Status Signal Object
- Return type:
StatusSignal[bool]
- get_fault_loop_time_slow(refresh: bool = True) phoenix6.status_signal.StatusSignal[bool] ¶
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 (bool) – Whether to refresh the StatusSignal before returning it; defaults to true
- Returns:
Fault_LoopTimeSlow Status Signal Object
- Return type:
StatusSignal[bool]
- get_sticky_fault_loop_time_slow(refresh: bool = True) phoenix6.status_signal.StatusSignal[bool] ¶
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 (bool) – Whether to refresh the StatusSignal before returning it; defaults to true
- Returns:
StickyFault_LoopTimeSlow Status Signal Object
- Return type:
StatusSignal[bool]
- get_fault_saturated_magnetometer(refresh: bool = True) phoenix6.status_signal.StatusSignal[bool] ¶
Magnetometer values are saturated
Default Value: False
Default Rates: - CAN: 4.0 Hz
This refreshes and returns a cached StatusSignal object.
- Parameters:
refresh (bool) – Whether to refresh the StatusSignal before returning it; defaults to true
- Returns:
Fault_SaturatedMagnetometer Status Signal Object
- Return type:
StatusSignal[bool]
- get_sticky_fault_saturated_magnetometer(refresh: bool = True) phoenix6.status_signal.StatusSignal[bool] ¶
Magnetometer values are saturated
Default Value: False
Default Rates: - CAN: 4.0 Hz
This refreshes and returns a cached StatusSignal object.
- Parameters:
refresh (bool) – Whether to refresh the StatusSignal before returning it; defaults to true
- Returns:
StickyFault_SaturatedMagnetometer Status Signal Object
- Return type:
StatusSignal[bool]
- get_fault_saturated_accelerometer(refresh: bool = True) phoenix6.status_signal.StatusSignal[bool] ¶
Accelerometer values are saturated
Default Value: False
Default Rates: - CAN: 4.0 Hz
This refreshes and returns a cached StatusSignal object.
- Parameters:
refresh (bool) – Whether to refresh the StatusSignal before returning it; defaults to true
- Returns:
Fault_SaturatedAccelerometer Status Signal Object
- Return type:
StatusSignal[bool]
- get_sticky_fault_saturated_accelerometer(refresh: bool = True) phoenix6.status_signal.StatusSignal[bool] ¶
Accelerometer values are saturated
Default Value: False
Default Rates: - CAN: 4.0 Hz
This refreshes and returns a cached StatusSignal object.
- Parameters:
refresh (bool) – Whether to refresh the StatusSignal before returning it; defaults to true
- Returns:
StickyFault_SaturatedAccelerometer Status Signal Object
- Return type:
StatusSignal[bool]
- get_fault_saturated_gyroscope(refresh: bool = True) phoenix6.status_signal.StatusSignal[bool] ¶
Gyroscope values are saturated
Default Value: False
Default Rates: - CAN: 4.0 Hz
This refreshes and returns a cached StatusSignal object.
- Parameters:
refresh (bool) – Whether to refresh the StatusSignal before returning it; defaults to true
- Returns:
Fault_SaturatedGyroscope Status Signal Object
- Return type:
StatusSignal[bool]
- get_sticky_fault_saturated_gyroscope(refresh: bool = True) phoenix6.status_signal.StatusSignal[bool] ¶
Gyroscope values are saturated
Default Value: False
Default Rates: - CAN: 4.0 Hz
This refreshes and returns a cached StatusSignal object.
- Parameters:
refresh (bool) – Whether to refresh the StatusSignal before returning it; defaults to true
- Returns:
StickyFault_SaturatedGyroscope Status Signal Object
- Return type:
StatusSignal[bool]
- set_control(request: phoenix6.hardware.parent_device.SupportsSendRequest) phoenix6.status_signal.StatusCode ¶
- set_yaw(new_value: phoenix6.units.degree, timeout_seconds: phoenix6.units.second = 0.1) phoenix6.status_signal.StatusCode ¶
The yaw to set the Pigeon2 to right now.
- 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:
- clear_sticky_faults(timeout_seconds: phoenix6.units.second = 0.1) phoenix6.status_signal.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.
- Parameters:
timeout_seconds (second) – Maximum time to wait up to in seconds.
- Returns:
StatusCode of the set command
- Return type:
- clear_sticky_fault_hardware(timeout_seconds: phoenix6.units.second = 0.1) phoenix6.status_signal.StatusCode ¶
Clear sticky fault: Hardware fault occurred
- Parameters:
timeout_seconds (second) – Maximum time to wait up to in seconds.
- Returns:
StatusCode of the set command
- Return type:
- clear_sticky_fault_undervoltage(timeout_seconds: phoenix6.units.second = 0.1) phoenix6.status_signal.StatusCode ¶
Clear sticky fault: Device supply voltage dropped to near brownout levels
- Parameters:
timeout_seconds (second) – Maximum time to wait up to in seconds.
- Returns:
StatusCode of the set command
- Return type:
- clear_sticky_fault_boot_during_enable(timeout_seconds: phoenix6.units.second = 0.1) phoenix6.status_signal.StatusCode ¶
Clear sticky fault: Device boot while detecting the enable signal
- Parameters:
timeout_seconds (second) – Maximum time to wait up to in seconds.
- Returns:
StatusCode of the set command
- Return type:
- clear_sticky_fault_unlicensed_feature_in_use(timeout_seconds: phoenix6.units.second = 0.1) phoenix6.status_signal.StatusCode ¶
Clear sticky fault: An unlicensed feature is in use, device may not behave as expected.
- Parameters:
timeout_seconds (second) – Maximum time to wait up to in seconds.
- Returns:
StatusCode of the set command
- Return type:
- clear_sticky_fault_bootup_accelerometer(timeout_seconds: phoenix6.units.second = 0.1) phoenix6.status_signal.StatusCode ¶
Clear sticky fault: Bootup checks failed: Accelerometer
- Parameters:
timeout_seconds (second) – Maximum time to wait up to in seconds.
- Returns:
StatusCode of the set command
- Return type:
- clear_sticky_fault_bootup_gyroscope(timeout_seconds: phoenix6.units.second = 0.1) phoenix6.status_signal.StatusCode ¶
Clear sticky fault: Bootup checks failed: Gyroscope
- Parameters:
timeout_seconds (second) – Maximum time to wait up to in seconds.
- Returns:
StatusCode of the set command
- Return type:
- clear_sticky_fault_bootup_magnetometer(timeout_seconds: phoenix6.units.second = 0.1) phoenix6.status_signal.StatusCode ¶
Clear sticky fault: Bootup checks failed: Magnetometer
- Parameters:
timeout_seconds (second) – Maximum time to wait up to in seconds.
- Returns:
StatusCode of the set command
- Return type:
- clear_sticky_fault_boot_into_motion(timeout_seconds: phoenix6.units.second = 0.1) phoenix6.status_signal.StatusCode ¶
Clear sticky fault: Motion Detected during bootup.
- Parameters:
timeout_seconds (second) – Maximum time to wait up to in seconds.
- Returns:
StatusCode of the set command
- Return type:
- clear_sticky_fault_data_acquired_late(timeout_seconds: phoenix6.units.second = 0.1) phoenix6.status_signal.StatusCode ¶
Clear sticky fault: Motion stack data acquisition was slower than expected
- Parameters:
timeout_seconds (second) – Maximum time to wait up to in seconds.
- Returns:
StatusCode of the set command
- Return type:
- clear_sticky_fault_loop_time_slow(timeout_seconds: phoenix6.units.second = 0.1) phoenix6.status_signal.StatusCode ¶
Clear sticky fault: Motion stack loop time was slower than expected.
- Parameters:
timeout_seconds (second) – Maximum time to wait up to in seconds.
- Returns:
StatusCode of the set command
- Return type:
- clear_sticky_fault_saturated_magnetometer(timeout_seconds: phoenix6.units.second = 0.1) phoenix6.status_signal.StatusCode ¶
Clear sticky fault: Magnetometer values are saturated
- Parameters:
timeout_seconds (second) – Maximum time to wait up to in seconds.
- Returns:
StatusCode of the set command
- Return type:
- clear_sticky_fault_saturated_accelerometer(timeout_seconds: phoenix6.units.second = 0.1) phoenix6.status_signal.StatusCode ¶
Clear sticky fault: Accelerometer values are saturated
- Parameters:
timeout_seconds (second) – Maximum time to wait up to in seconds.
- Returns:
StatusCode of the set command
- Return type:
- clear_sticky_fault_saturated_gyroscope(timeout_seconds: phoenix6.units.second = 0.1) phoenix6.status_signal.StatusCode ¶
Clear sticky fault: Gyroscope values are saturated
- Parameters:
timeout_seconds (second) – Maximum time to wait up to in seconds.
- Returns:
StatusCode of the set command
- Return type: