Package com.ctre.phoenix6.configs

Class Pigeon2Configuration

java.lang.Object

com.ctre.phoenix6.configs.Pigeon2Configuration

All Implemented Interfaces:

ParentConfiguration, ISerializable, Cloneable

public class Pigeon2Configuration
extends Object
implements ParentConfiguration, Cloneable

Class description for the Pigeon 2 IMU sensor that measures orientation. This handles applying and refreshing the configurations for the Pigeon2.

Field Summary

Fields

Modifier and Type	Field	Description
CustomParamsConfigs	CustomParams	Custom Params.
boolean	FutureProofConfigs	True if we should factory default newer unsupported configs, false to leave newer unsupported configs alone.
GyroTrimConfigs	GyroTrim	Configs to trim the Pigeon2's gyroscope.
MountPoseConfigs	MountPose	Configs for Pigeon 2's Mount Pose configuration.
Pigeon2FeaturesConfigs	Pigeon2Features	Configs to enable/disable various features of the Pigeon2.

Constructor Summary

Constructors

Constructor	Description
Pigeon2Configuration()

Method Summary

Modifier and Type	Method	Description
Pigeon2Configuration	clone()
final StatusCode	deserialize(String to_deserialize)	Take a string and deserialize it to this configuration.
final String	serialize()	Get the serialized form of this configuration.
String	toString()
final Pigeon2Configuration	withCustomParams(CustomParamsConfigs newCustomParams)	Modifies this configuration's CustomParams parameter and returns itself for method-chaining and easier to use config API.
final Pigeon2Configuration	withGyroTrim(GyroTrimConfigs newGyroTrim)	Modifies this configuration's GyroTrim parameter and returns itself for method-chaining and easier to use config API.
final Pigeon2Configuration	withMountPose(MountPoseConfigs newMountPose)	Modifies this configuration's MountPose parameter and returns itself for method-chaining and easier to use config API.
final Pigeon2Configuration	withPigeon2Features(Pigeon2FeaturesConfigs newPigeon2Features)	Modifies this configuration's Pigeon2Features parameter and returns itself for method-chaining and easier to use config API.

Methods inherited from class java.lang.Object

equals, finalize, getClass, hashCode, notify, notifyAll, wait, wait, wait

Field Details

FutureProofConfigs

public boolean FutureProofConfigs

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.

MountPose

public MountPoseConfigs MountPose

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.

Parameter list:

• MountPoseConfigs.MountPoseYaw
• MountPoseConfigs.MountPosePitch
• MountPoseConfigs.MountPoseRoll

GyroTrim

public GyroTrimConfigs GyroTrim

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.

Parameter list:

• GyroTrimConfigs.GyroScalarX
• GyroTrimConfigs.GyroScalarY
• GyroTrimConfigs.GyroScalarZ

Pigeon2Features

public Pigeon2FeaturesConfigs Pigeon2Features

Configs to enable/disable various features of the Pigeon2.

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

Parameter list:

• Pigeon2FeaturesConfigs.EnableCompass
• Pigeon2FeaturesConfigs.DisableTemperatureCompensation
• Pigeon2FeaturesConfigs.DisableNoMotionCalibration

CustomParams

public CustomParamsConfigs CustomParams

Custom Params.

Custom paramaters that have no real impact on controller.

Parameter list:

• CustomParamsConfigs.CustomParam0
• CustomParamsConfigs.CustomParam1

Constructor Details

Pigeon2Configuration

public Pigeon2Configuration()

Method Details

withMountPose

public final Pigeon2Configuration withMountPose(MountPoseConfigs newMountPose)

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

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.

Parameter list:

• MountPoseConfigs.MountPoseYaw
• MountPoseConfigs.MountPosePitch
• MountPoseConfigs.MountPoseRoll

Parameters:

newMountPose - Parameter to modify

Returns:

Itself

withGyroTrim

public final Pigeon2Configuration withGyroTrim(GyroTrimConfigs newGyroTrim)

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

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.

Parameter list:

• GyroTrimConfigs.GyroScalarX
• GyroTrimConfigs.GyroScalarY
• GyroTrimConfigs.GyroScalarZ

Parameters:

newGyroTrim - Parameter to modify

Returns:

Itself

withPigeon2Features

public final Pigeon2Configuration withPigeon2Features(Pigeon2FeaturesConfigs newPigeon2Features)

Modifies this configuration's Pigeon2Features parameter and returns itself for method-chaining and easier to use config API.

Configs to enable/disable various features of the Pigeon2.

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

Parameter list:

• Pigeon2FeaturesConfigs.EnableCompass
• Pigeon2FeaturesConfigs.DisableTemperatureCompensation
• Pigeon2FeaturesConfigs.DisableNoMotionCalibration

Parameters:

newPigeon2Features - Parameter to modify

Returns:

Itself

withCustomParams

public final Pigeon2Configuration withCustomParams(CustomParamsConfigs newCustomParams)

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

Custom Params.

Custom paramaters that have no real impact on controller.

Parameter list:

• CustomParamsConfigs.CustomParam0
• CustomParamsConfigs.CustomParam1

Parameters:

newCustomParams - Parameter to modify

Returns:

Itself

toString

public String toString()

Overrides:

toString in class Object

serialize

public final String serialize()

Get the serialized form of this configuration.

Specified by:

serialize in interface ISerializable

Returns:

Serialized form of this config group

deserialize

public final StatusCode deserialize(String to_deserialize)

Take a string and deserialize it to this configuration.

Specified by:

deserialize in interface ParentConfiguration

Returns:

Return code of the deserialize method

clone

public Pigeon2Configuration clone()

Overrides:

clone in class Object