Package com.ctre.phoenix6.hardware

Class Pigeon2

java.lang.Object
com.ctre.phoenix6.jni.CtreJniWrapper
com.ctre.phoenix6.hardware.ParentDevice
com.ctre.phoenix6.hardware.core.CorePigeon2
com.ctre.phoenix6.hardware.Pigeon2
All Implemented Interfaces:
CommonDevice, Sendable, AutoCloseable
public class Pigeon2 extends CorePigeon2 implements Sendable, AutoCloseable
WPILib-integrated version of CorePigeon2.

  • Constructor Details

    • Pigeon2

      public Pigeon2(int deviceId)
      Constructs a new Pigeon 2 sensor object.

      Constructs the device using the default CAN bus for the system (see CANBus()).

      Parameters:
      deviceId - ID of the device, as configured in Phoenix Tuner

    • Pigeon2

      @Deprecated(since="2026", forRemoval=true) public Pigeon2(int deviceId, String canbus)
      Deprecated, for removal: This API element is subject to removal in a future version.
      Constructing devices with a CAN bus string is deprecated for removal in the 2027 season. Construct devices using a CANBus instance instead.
      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

    • Pigeon2

      public Pigeon2(int deviceId, CANBus canbus)
      Constructs a new Pigeon 2 sensor object.
      Parameters:
      deviceId - ID of the device, as configured in Phoenix Tuner
      canbus - The CAN bus this device is on

  • Method Details

    • none

      public static Pigeon2 none()
      Constructs a stubbed-out Pigeon2, where all status signals, controls, configs, etc. perform no action and immediately return OK. This can be used to silence error messages for devices that have been completely removed from the robot.
      Returns:
      Stubbed-out Pigeon2

    • close

      public void close()
      Specified by:
      close in interface AutoCloseable

    • reset

      public final void reset()
      Resets the Pigeon 2 to a heading of zero.

      This can be used if there is significant drift in the gyro, and it needs to be recalibrated after it has been running.

    • getRotation2d

      public final Rotation2d getRotation2d()
      Returns the heading of the robot as a Rotation2d.

      The angle increases as the Pigeon 2 turns counterclockwise when looked at from the top. This follows the NWU axis convention.

      The angle is continuous; that is, it will continue from 360 to 361 degrees. This allows for algorithms that wouldn't want to see a discontinuity in the gyro output as it sweeps past from 360 to 0 on the second time around.

      Returns:
      The current heading of the robot as a Rotation2d

    • getRotation3d

      public final Rotation3d getRotation3d()
      Returns the orientation of the robot as a Rotation3d created from the quaternion signals.
      Returns:
      The current orientation of the robot as a Rotation3d

    • initSendable

      public void initSendable(SendableBuilder builder)
      Specified by:
      initSendable in interface Sendable