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
All Implemented Interfaces:
CommonDevice
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 CANBus kPigeon2CANbus = new CANBus("canivore");
 
 // Construct the Pigeon 2
 final 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 (see CANBus()).

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

    • CorePigeon2

      @Deprecated(since="2026", forRemoval=true) public CorePigeon2(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

    • CorePigeon2

      public CorePigeon2(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 CorePigeon2 none()
      Constructs a stubbed-out CorePigeon2, 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 CorePigeon2

    • getConfigurator

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

    • getSimState

      public final 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 final 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

    • getVersionMajor

      public final StatusSignal<Integer> getVersionMajor(boolean refresh)
      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 - Whether to refresh the StatusSignal before returning it; defaults to true
      Returns:
      VersionMajor Status Signal Object

    • getVersionMinor

      public final 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

    • getVersionMinor

      public final StatusSignal<Integer> getVersionMinor(boolean refresh)
      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 - Whether to refresh the StatusSignal before returning it; defaults to true
      Returns:
      VersionMinor Status Signal Object

    • getVersionBugfix

      public final 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

    • getVersionBugfix

      public final StatusSignal<Integer> getVersionBugfix(boolean refresh)
      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 - Whether to refresh the StatusSignal before returning it; defaults to true
      Returns:
      VersionBugfix Status Signal Object

    • getVersionBuild

      public final 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

    • getVersionBuild

      public final StatusSignal<Integer> getVersionBuild(boolean refresh)
      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 - Whether to refresh the StatusSignal before returning it; defaults to true
      Returns:
      VersionBuild Status Signal Object

    • getVersion

      public final StatusSignal<Integer> getVersion()
      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

    • getVersion

      public final StatusSignal<Integer> getVersion(boolean refresh)
      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 - Whether to refresh the StatusSignal before returning it; defaults to true
      Returns:
      Version Status Signal Object

    • getFaultField

      public final StatusSignal<Integer> getFaultField()
      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.

      Returns:
      FaultField Status Signal Object

    • getFaultField

      public final StatusSignal<Integer> getFaultField(boolean refresh)
      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 - Whether to refresh the StatusSignal before returning it; defaults to true
      Returns:
      FaultField Status Signal Object

    • getStickyFaultField

      public final StatusSignal<Integer> getStickyFaultField()
      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.

      Returns:
      StickyFaultField Status Signal Object

    • getStickyFaultField

      public final StatusSignal<Integer> getStickyFaultField(boolean refresh)
      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 - Whether to refresh the StatusSignal before returning it; defaults to true
      Returns:
      StickyFaultField Status Signal Object

    • getYaw

      public final StatusSignal<Angle> 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

    • getYaw

      public final StatusSignal<Angle> getYaw(boolean refresh)
      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 - Whether to refresh the StatusSignal before returning it; defaults to true
      Returns:
      Yaw Status Signal Object

    • getPitch

      public final StatusSignal<Angle> 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

    • getPitch

      public final StatusSignal<Angle> getPitch(boolean refresh)
      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 - Whether to refresh the StatusSignal before returning it; defaults to true
      Returns:
      Pitch Status Signal Object

    • getRoll

      public final StatusSignal<Angle> 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

    • getRoll

      public final StatusSignal<Angle> getRoll(boolean refresh)
      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 - Whether to refresh the StatusSignal before returning it; defaults to true
      Returns:
      Roll Status Signal Object

    • getQuatW

      public final 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

    • getQuatW

      public final StatusSignal<Double> getQuatW(boolean refresh)
      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 - Whether to refresh the StatusSignal before returning it; defaults to true
      Returns:
      QuatW Status Signal Object

    • getQuatX

      public final 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

    • getQuatX

      public final StatusSignal<Double> getQuatX(boolean refresh)
      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 - Whether to refresh the StatusSignal before returning it; defaults to true
      Returns:
      QuatX Status Signal Object

    • getQuatY

      public final 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

    • getQuatY

      public final StatusSignal<Double> getQuatY(boolean refresh)
      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 - Whether to refresh the StatusSignal before returning it; defaults to true
      Returns:
      QuatY Status Signal Object

    • getQuatZ

      public final 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

    • getQuatZ

      public final StatusSignal<Double> getQuatZ(boolean refresh)
      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 - Whether to refresh the StatusSignal before returning it; defaults to true
      Returns:
      QuatZ Status Signal Object

    • getGravityVectorX

      public final 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

    • getGravityVectorX

      public final StatusSignal<Double> getGravityVectorX(boolean refresh)
      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 - Whether to refresh the StatusSignal before returning it; defaults to true
      Returns:
      GravityVectorX Status Signal Object

    • getGravityVectorY

      public final 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

    • getGravityVectorY

      public final StatusSignal<Double> getGravityVectorY(boolean refresh)
      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 - Whether to refresh the StatusSignal before returning it; defaults to true
      Returns:
      GravityVectorY Status Signal Object

    • getGravityVectorZ

      public final 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

    • getGravityVectorZ

      public final StatusSignal<Double> getGravityVectorZ(boolean refresh)
      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 - Whether to refresh the StatusSignal before returning it; defaults to true
      Returns:
      GravityVectorZ Status Signal Object

    • getTemperature

      public final StatusSignal<Temperature> 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

    • getTemperature

      public final StatusSignal<Temperature> getTemperature(boolean refresh)
      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 - Whether to refresh the StatusSignal before returning it; defaults to true
      Returns:
      Temperature Status Signal Object

    • getNoMotionEnabled

      public final 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

    • getNoMotionEnabled

      public final StatusSignal<Boolean> getNoMotionEnabled(boolean refresh)
      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 - Whether to refresh the StatusSignal before returning it; defaults to true
      Returns:
      NoMotionEnabled Status Signal Object

    • getNoMotionCount

      public final 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

    • getNoMotionCount

      public final StatusSignal<Double> getNoMotionCount(boolean refresh)
      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 - Whether to refresh the StatusSignal before returning it; defaults to true
      Returns:
      NoMotionCount Status Signal Object

    • getTemperatureCompensationDisabled

      public final 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

    • getTemperatureCompensationDisabled

      public final StatusSignal<Boolean> getTemperatureCompensationDisabled(boolean refresh)
      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 - Whether to refresh the StatusSignal before returning it; defaults to true
      Returns:
      TemperatureCompensationDisabled Status Signal Object

    • getUpTime

      public final StatusSignal<Time> 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

    • getUpTime

      public final StatusSignal<Time> getUpTime(boolean refresh)
      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 - Whether to refresh the StatusSignal before returning it; defaults to true
      Returns:
      UpTime Status Signal Object

    • getAccumGyroX

      public final StatusSignal<Angle> 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

    • getAccumGyroX

      public final StatusSignal<Angle> getAccumGyroX(boolean refresh)
      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 - Whether to refresh the StatusSignal before returning it; defaults to true
      Returns:
      AccumGyroX Status Signal Object

    • getAccumGyroY

      public final StatusSignal<Angle> 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

    • getAccumGyroY

      public final StatusSignal<Angle> getAccumGyroY(boolean refresh)
      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 - Whether to refresh the StatusSignal before returning it; defaults to true
      Returns:
      AccumGyroY Status Signal Object

    • getAccumGyroZ

      public final StatusSignal<Angle> 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

    • getAccumGyroZ

      public final StatusSignal<Angle> getAccumGyroZ(boolean refresh)
      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 - Whether to refresh the StatusSignal before returning it; defaults to true
      Returns:
      AccumGyroZ Status Signal Object

    • getAngularVelocityXWorld

      public final StatusSignal<AngularVelocity> getAngularVelocityXWorld()
      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.

      Returns:
      AngularVelocityXWorld Status Signal Object

    • getAngularVelocityXWorld

      public final StatusSignal<AngularVelocity> getAngularVelocityXWorld(boolean refresh)
      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 - Whether to refresh the StatusSignal before returning it; defaults to true
      Returns:
      AngularVelocityXWorld Status Signal Object

    • getAngularVelocityYWorld

      public final StatusSignal<AngularVelocity> getAngularVelocityYWorld()
      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.

      Returns:
      AngularVelocityYWorld Status Signal Object

    • getAngularVelocityYWorld

      public final StatusSignal<AngularVelocity> getAngularVelocityYWorld(boolean refresh)
      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 - Whether to refresh the StatusSignal before returning it; defaults to true
      Returns:
      AngularVelocityYWorld Status Signal Object

    • getAngularVelocityZWorld

      public final StatusSignal<AngularVelocity> getAngularVelocityZWorld()
      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.

      Returns:
      AngularVelocityZWorld Status Signal Object

    • getAngularVelocityZWorld

      public final StatusSignal<AngularVelocity> getAngularVelocityZWorld(boolean refresh)
      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 - Whether to refresh the StatusSignal before returning it; defaults to true
      Returns:
      AngularVelocityZWorld Status Signal Object

    • getAccelerationX

      public final StatusSignal<LinearAcceleration> 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

    • getAccelerationX

      public final StatusSignal<LinearAcceleration> getAccelerationX(boolean refresh)
      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 - Whether to refresh the StatusSignal before returning it; defaults to true
      Returns:
      AccelerationX Status Signal Object

    • getAccelerationY

      public final StatusSignal<LinearAcceleration> 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

    • getAccelerationY

      public final StatusSignal<LinearAcceleration> getAccelerationY(boolean refresh)
      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 - Whether to refresh the StatusSignal before returning it; defaults to true
      Returns:
      AccelerationY Status Signal Object

    • getAccelerationZ

      public final StatusSignal<LinearAcceleration> 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

    • getAccelerationZ

      public final StatusSignal<LinearAcceleration> getAccelerationZ(boolean refresh)
      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 - Whether to refresh the StatusSignal before returning it; defaults to true
      Returns:
      AccelerationZ Status Signal Object

    • getSupplyVoltage

      public final StatusSignal<Voltage> 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

    • getSupplyVoltage

      public final StatusSignal<Voltage> getSupplyVoltage(boolean refresh)
      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 - Whether to refresh the StatusSignal before returning it; defaults to true
      Returns:
      SupplyVoltage Status Signal Object

    • getAngularVelocityXDevice

      public final StatusSignal<AngularVelocity> 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

    • getAngularVelocityXDevice

      public final StatusSignal<AngularVelocity> getAngularVelocityXDevice(boolean refresh)
      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 - Whether to refresh the StatusSignal before returning it; defaults to true
      Returns:
      AngularVelocityXDevice Status Signal Object

    • getAngularVelocityYDevice

      public final StatusSignal<AngularVelocity> 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

    • getAngularVelocityYDevice

      public final StatusSignal<AngularVelocity> getAngularVelocityYDevice(boolean refresh)
      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 - Whether to refresh the StatusSignal before returning it; defaults to true
      Returns:
      AngularVelocityYDevice Status Signal Object

    • getAngularVelocityZDevice

      public final StatusSignal<AngularVelocity> 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

    • getAngularVelocityZDevice

      public final StatusSignal<AngularVelocity> getAngularVelocityZDevice(boolean refresh)
      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 - Whether to refresh the StatusSignal before returning it; defaults to true
      Returns:
      AngularVelocityZDevice Status Signal Object

    • getMagneticFieldX

      public final 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

    • getMagneticFieldX

      public final StatusSignal<Double> getMagneticFieldX(boolean refresh)
      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 - Whether to refresh the StatusSignal before returning it; defaults to true
      Returns:
      MagneticFieldX Status Signal Object

    • getMagneticFieldY

      public final 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

    • getMagneticFieldY

      public final StatusSignal<Double> getMagneticFieldY(boolean refresh)
      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 - Whether to refresh the StatusSignal before returning it; defaults to true
      Returns:
      MagneticFieldY Status Signal Object

    • getMagneticFieldZ

      public final 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

    • getMagneticFieldZ

      public final StatusSignal<Double> getMagneticFieldZ(boolean refresh)
      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 - Whether to refresh the StatusSignal before returning it; defaults to true
      Returns:
      MagneticFieldZ Status Signal Object

    • getRawMagneticFieldX

      public final 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

    • getRawMagneticFieldX

      public final StatusSignal<Double> getRawMagneticFieldX(boolean refresh)
      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 - Whether to refresh the StatusSignal before returning it; defaults to true
      Returns:
      RawMagneticFieldX Status Signal Object

    • getRawMagneticFieldY

      public final 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

    • getRawMagneticFieldY

      public final StatusSignal<Double> getRawMagneticFieldY(boolean refresh)
      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 - Whether to refresh the StatusSignal before returning it; defaults to true
      Returns:
      RawMagneticFieldY Status Signal Object

    • getRawMagneticFieldZ

      public final 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

    • getRawMagneticFieldZ

      public final StatusSignal<Double> getRawMagneticFieldZ(boolean refresh)
      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 - Whether to refresh the StatusSignal before returning it; defaults to true
      Returns:
      RawMagneticFieldZ Status Signal Object

    • getIsProLicensed

      public final 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

    • getIsProLicensed

      public final StatusSignal<Boolean> getIsProLicensed(boolean refresh)
      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 - Whether to refresh the StatusSignal before returning it; defaults to true
      Returns:
      IsProLicensed Status Signal Object

    • getFault_Hardware

      public final 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

    • getFault_Hardware

      public final StatusSignal<Boolean> getFault_Hardware(boolean refresh)
      Hardware fault occurred
      • Default Value: False
      Default Rates:
      • CAN: 4.0 Hz

      This refreshes and returns a cached StatusSignal object.

      Parameters:
      refresh - Whether to refresh the StatusSignal before returning it; defaults to true
      Returns:
      Fault_Hardware Status Signal Object

    • getStickyFault_Hardware

      public final 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

    • getStickyFault_Hardware

      public final StatusSignal<Boolean> getStickyFault_Hardware(boolean refresh)
      Hardware fault occurred
      • Default Value: False
      Default Rates:
      • CAN: 4.0 Hz

      This refreshes and returns a cached StatusSignal object.

      Parameters:
      refresh - Whether to refresh the StatusSignal before returning it; defaults to true
      Returns:
      StickyFault_Hardware Status Signal Object

    • getFault_Undervoltage

      public final 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

    • getFault_Undervoltage

      public final StatusSignal<Boolean> getFault_Undervoltage(boolean refresh)
      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 - Whether to refresh the StatusSignal before returning it; defaults to true
      Returns:
      Fault_Undervoltage Status Signal Object

    • getStickyFault_Undervoltage

      public final 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

    • getStickyFault_Undervoltage

      public final StatusSignal<Boolean> getStickyFault_Undervoltage(boolean refresh)
      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 - Whether to refresh the StatusSignal before returning it; defaults to true
      Returns:
      StickyFault_Undervoltage Status Signal Object

    • getFault_BootDuringEnable

      public final 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

    • getFault_BootDuringEnable

      public final StatusSignal<Boolean> getFault_BootDuringEnable(boolean refresh)
      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 - Whether to refresh the StatusSignal before returning it; defaults to true
      Returns:
      Fault_BootDuringEnable Status Signal Object

    • getStickyFault_BootDuringEnable

      public final 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

    • getStickyFault_BootDuringEnable

      public final StatusSignal<Boolean> getStickyFault_BootDuringEnable(boolean refresh)
      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 - Whether to refresh the StatusSignal before returning it; defaults to true
      Returns:
      StickyFault_BootDuringEnable Status Signal Object

    • getFault_UnlicensedFeatureInUse

      public final 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

    • getFault_UnlicensedFeatureInUse

      public final StatusSignal<Boolean> getFault_UnlicensedFeatureInUse(boolean refresh)
      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 - Whether to refresh the StatusSignal before returning it; defaults to true
      Returns:
      Fault_UnlicensedFeatureInUse Status Signal Object

    • getStickyFault_UnlicensedFeatureInUse

      public final 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

    • getStickyFault_UnlicensedFeatureInUse

      public final StatusSignal<Boolean> getStickyFault_UnlicensedFeatureInUse(boolean refresh)
      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 - Whether to refresh the StatusSignal before returning it; defaults to true
      Returns:
      StickyFault_UnlicensedFeatureInUse Status Signal Object

    • getFault_BootupAccelerometer

      public final 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

    • getFault_BootupAccelerometer

      public final StatusSignal<Boolean> getFault_BootupAccelerometer(boolean refresh)
      Bootup checks failed: Accelerometer
      • Default Value: False
      Default Rates:
      • CAN: 4.0 Hz

      This refreshes and returns a cached StatusSignal object.

      Parameters:
      refresh - Whether to refresh the StatusSignal before returning it; defaults to true
      Returns:
      Fault_BootupAccelerometer Status Signal Object

    • getStickyFault_BootupAccelerometer

      public final 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

    • getStickyFault_BootupAccelerometer

      public final StatusSignal<Boolean> getStickyFault_BootupAccelerometer(boolean refresh)
      Bootup checks failed: Accelerometer
      • Default Value: False
      Default Rates:
      • CAN: 4.0 Hz

      This refreshes and returns a cached StatusSignal object.

      Parameters:
      refresh - Whether to refresh the StatusSignal before returning it; defaults to true
      Returns:
      StickyFault_BootupAccelerometer Status Signal Object

    • getFault_BootupGyroscope

      public final 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

    • getFault_BootupGyroscope

      public final StatusSignal<Boolean> getFault_BootupGyroscope(boolean refresh)
      Bootup checks failed: Gyroscope
      • Default Value: False
      Default Rates:
      • CAN: 4.0 Hz

      This refreshes and returns a cached StatusSignal object.

      Parameters:
      refresh - Whether to refresh the StatusSignal before returning it; defaults to true
      Returns:
      Fault_BootupGyroscope Status Signal Object

    • getStickyFault_BootupGyroscope

      public final 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

    • getStickyFault_BootupGyroscope

      public final StatusSignal<Boolean> getStickyFault_BootupGyroscope(boolean refresh)
      Bootup checks failed: Gyroscope
      • Default Value: False
      Default Rates:
      • CAN: 4.0 Hz

      This refreshes and returns a cached StatusSignal object.

      Parameters:
      refresh - Whether to refresh the StatusSignal before returning it; defaults to true
      Returns:
      StickyFault_BootupGyroscope Status Signal Object

    • getFault_BootupMagnetometer

      public final 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

    • getFault_BootupMagnetometer

      public final StatusSignal<Boolean> getFault_BootupMagnetometer(boolean refresh)
      Bootup checks failed: Magnetometer
      • Default Value: False
      Default Rates:
      • CAN: 4.0 Hz

      This refreshes and returns a cached StatusSignal object.

      Parameters:
      refresh - Whether to refresh the StatusSignal before returning it; defaults to true
      Returns:
      Fault_BootupMagnetometer Status Signal Object

    • getStickyFault_BootupMagnetometer

      public final 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

    • getStickyFault_BootupMagnetometer

      public final StatusSignal<Boolean> getStickyFault_BootupMagnetometer(boolean refresh)
      Bootup checks failed: Magnetometer
      • Default Value: False
      Default Rates:
      • CAN: 4.0 Hz

      This refreshes and returns a cached StatusSignal object.

      Parameters:
      refresh - Whether to refresh the StatusSignal before returning it; defaults to true
      Returns:
      StickyFault_BootupMagnetometer Status Signal Object

    • getFault_BootIntoMotion

      public final 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

    • getFault_BootIntoMotion

      public final StatusSignal<Boolean> getFault_BootIntoMotion(boolean refresh)
      Motion Detected during bootup.
      • Default Value: False
      Default Rates:
      • CAN: 4.0 Hz

      This refreshes and returns a cached StatusSignal object.

      Parameters:
      refresh - Whether to refresh the StatusSignal before returning it; defaults to true
      Returns:
      Fault_BootIntoMotion Status Signal Object

    • getStickyFault_BootIntoMotion

      public final 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

    • getStickyFault_BootIntoMotion

      public final StatusSignal<Boolean> getStickyFault_BootIntoMotion(boolean refresh)
      Motion Detected during bootup.
      • Default Value: False
      Default Rates:
      • CAN: 4.0 Hz

      This refreshes and returns a cached StatusSignal object.

      Parameters:
      refresh - Whether to refresh the StatusSignal before returning it; defaults to true
      Returns:
      StickyFault_BootIntoMotion Status Signal Object

    • getFault_DataAcquiredLate

      public final 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

    • getFault_DataAcquiredLate

      public final StatusSignal<Boolean> getFault_DataAcquiredLate(boolean refresh)
      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 - Whether to refresh the StatusSignal before returning it; defaults to true
      Returns:
      Fault_DataAcquiredLate Status Signal Object

    • getStickyFault_DataAcquiredLate

      public final 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

    • getStickyFault_DataAcquiredLate

      public final StatusSignal<Boolean> getStickyFault_DataAcquiredLate(boolean refresh)
      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 - Whether to refresh the StatusSignal before returning it; defaults to true
      Returns:
      StickyFault_DataAcquiredLate Status Signal Object

    • getFault_LoopTimeSlow

      public final 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

    • getFault_LoopTimeSlow

      public final StatusSignal<Boolean> getFault_LoopTimeSlow(boolean refresh)
      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 - Whether to refresh the StatusSignal before returning it; defaults to true
      Returns:
      Fault_LoopTimeSlow Status Signal Object

    • getStickyFault_LoopTimeSlow

      public final 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

    • getStickyFault_LoopTimeSlow

      public final StatusSignal<Boolean> getStickyFault_LoopTimeSlow(boolean refresh)
      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 - Whether to refresh the StatusSignal before returning it; defaults to true
      Returns:
      StickyFault_LoopTimeSlow Status Signal Object

    • getFault_SaturatedMagnetometer

      public final 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

    • getFault_SaturatedMagnetometer

      public final StatusSignal<Boolean> getFault_SaturatedMagnetometer(boolean refresh)
      Magnetometer values are saturated
      • Default Value: False
      Default Rates:
      • CAN: 4.0 Hz

      This refreshes and returns a cached StatusSignal object.

      Parameters:
      refresh - Whether to refresh the StatusSignal before returning it; defaults to true
      Returns:
      Fault_SaturatedMagnetometer Status Signal Object

    • getStickyFault_SaturatedMagnetometer

      public final 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

    • getStickyFault_SaturatedMagnetometer

      public final StatusSignal<Boolean> getStickyFault_SaturatedMagnetometer(boolean refresh)
      Magnetometer values are saturated
      • Default Value: False
      Default Rates:
      • CAN: 4.0 Hz

      This refreshes and returns a cached StatusSignal object.

      Parameters:
      refresh - Whether to refresh the StatusSignal before returning it; defaults to true
      Returns:
      StickyFault_SaturatedMagnetometer Status Signal Object

    • getFault_SaturatedAccelerometer

      public final 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

    • getFault_SaturatedAccelerometer

      public final StatusSignal<Boolean> getFault_SaturatedAccelerometer(boolean refresh)
      Accelerometer values are saturated
      • Default Value: False
      Default Rates:
      • CAN: 4.0 Hz

      This refreshes and returns a cached StatusSignal object.

      Parameters:
      refresh - Whether to refresh the StatusSignal before returning it; defaults to true
      Returns:
      Fault_SaturatedAccelerometer Status Signal Object

    • getStickyFault_SaturatedAccelerometer

      public final 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

    • getStickyFault_SaturatedAccelerometer

      public final StatusSignal<Boolean> getStickyFault_SaturatedAccelerometer(boolean refresh)
      Accelerometer values are saturated
      • Default Value: False
      Default Rates:
      • CAN: 4.0 Hz

      This refreshes and returns a cached StatusSignal object.

      Parameters:
      refresh - Whether to refresh the StatusSignal before returning it; defaults to true
      Returns:
      StickyFault_SaturatedAccelerometer Status Signal Object

    • getFault_SaturatedGyroscope

      public final 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

    • getFault_SaturatedGyroscope

      public final StatusSignal<Boolean> getFault_SaturatedGyroscope(boolean refresh)
      Gyroscope values are saturated
      • Default Value: False
      Default Rates:
      • CAN: 4.0 Hz

      This refreshes and returns a cached StatusSignal object.

      Parameters:
      refresh - Whether to refresh the StatusSignal before returning it; defaults to true
      Returns:
      Fault_SaturatedGyroscope Status Signal Object

    • getStickyFault_SaturatedGyroscope

      public final 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

    • getStickyFault_SaturatedGyroscope

      public final StatusSignal<Boolean> getStickyFault_SaturatedGyroscope(boolean refresh)
      Gyroscope values are saturated
      • Default Value: False
      Default Rates:
      • CAN: 4.0 Hz

      This refreshes and returns a cached StatusSignal object.

      Parameters:
      refresh - Whether to refresh the StatusSignal before returning it; defaults to true
      Returns:
      StickyFault_SaturatedGyroscope Status Signal Object

    • setYaw

      public final StatusCode setYaw(double newValue)
      The yaw to set the Pigeon2 to right now.

      This will wait up to 0.100 seconds (100ms) by default.

      Parameters:
      newValue - Value to set to. Units are in deg.
      Returns:
      StatusCode of the set command

    • setYaw

      public final 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 final StatusCode setYaw(Angle newValue)
      The yaw to set the Pigeon2 to right now.

      This will wait up to 0.100 seconds (100ms) by default.

      Parameters:
      newValue - Value to set to. Units are in deg.
      Returns:
      StatusCode of the set command

    • setYaw

      public final StatusCode setYaw(Angle 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

    • clearStickyFaults

      public final 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 0.100 seconds (100ms) by default.

      Returns:
      StatusCode of the set command

    • clearStickyFaults

      public final 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

    • clearStickyFault_Hardware

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

      This will wait up to 0.100 seconds (100ms) by default.

      Returns:
      StatusCode of the set command

    • clearStickyFault_Hardware

      public final 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_Undervoltage

      public final StatusCode clearStickyFault_Undervoltage()
      Clear sticky fault: Device supply voltage dropped to near brownout levels

      This will wait up to 0.100 seconds (100ms) by default.

      Returns:
      StatusCode of the set command

    • clearStickyFault_Undervoltage

      public final 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_BootDuringEnable

      public final StatusCode clearStickyFault_BootDuringEnable()
      Clear sticky fault: Device boot while detecting the enable signal

      This will wait up to 0.100 seconds (100ms) by default.

      Returns:
      StatusCode of the set command

    • clearStickyFault_BootDuringEnable

      public final 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_UnlicensedFeatureInUse

      public final StatusCode clearStickyFault_UnlicensedFeatureInUse()
      Clear sticky fault: An unlicensed feature is in use, device may not behave as expected.

      This will wait up to 0.100 seconds (100ms) by default.

      Returns:
      StatusCode of the set command

    • clearStickyFault_UnlicensedFeatureInUse

      public final StatusCode clearStickyFault_UnlicensedFeatureInUse(double timeoutSeconds)
      Clear sticky fault: An unlicensed feature is in use, device may not behave as expected.
      Parameters:
      timeoutSeconds - Maximum time to wait up to in seconds.
      Returns:
      StatusCode of the set command

    • clearStickyFault_BootupAccelerometer

      public final StatusCode clearStickyFault_BootupAccelerometer()
      Clear sticky fault: Bootup checks failed: Accelerometer

      This will wait up to 0.100 seconds (100ms) by default.

      Returns:
      StatusCode of the set command

    • clearStickyFault_BootupAccelerometer

      public final 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_BootupGyroscope

      public final StatusCode clearStickyFault_BootupGyroscope()
      Clear sticky fault: Bootup checks failed: Gyroscope

      This will wait up to 0.100 seconds (100ms) by default.

      Returns:
      StatusCode of the set command

    • clearStickyFault_BootupGyroscope

      public final 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_BootupMagnetometer

      public final StatusCode clearStickyFault_BootupMagnetometer()
      Clear sticky fault: Bootup checks failed: Magnetometer

      This will wait up to 0.100 seconds (100ms) by default.

      Returns:
      StatusCode of the set command

    • clearStickyFault_BootupMagnetometer

      public final 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_BootIntoMotion

      public final StatusCode clearStickyFault_BootIntoMotion()
      Clear sticky fault: Motion Detected during bootup.

      This will wait up to 0.100 seconds (100ms) by default.

      Returns:
      StatusCode of the set command

    • clearStickyFault_BootIntoMotion

      public final 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_DataAcquiredLate

      public final StatusCode clearStickyFault_DataAcquiredLate()
      Clear sticky fault: Motion stack data acquisition was slower than expected

      This will wait up to 0.100 seconds (100ms) by default.

      Returns:
      StatusCode of the set command

    • clearStickyFault_DataAcquiredLate

      public final 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_LoopTimeSlow

      public final StatusCode clearStickyFault_LoopTimeSlow()
      Clear sticky fault: Motion stack loop time was slower than expected.

      This will wait up to 0.100 seconds (100ms) by default.

      Returns:
      StatusCode of the set command

    • clearStickyFault_LoopTimeSlow

      public final 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_SaturatedMagnetometer

      public final StatusCode clearStickyFault_SaturatedMagnetometer()
      Clear sticky fault: Magnetometer values are saturated

      This will wait up to 0.100 seconds (100ms) by default.

      Returns:
      StatusCode of the set command

    • clearStickyFault_SaturatedMagnetometer

      public final 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_SaturatedAccelerometer

      public final StatusCode clearStickyFault_SaturatedAccelerometer()
      Clear sticky fault: Accelerometer values are saturated

      This will wait up to 0.100 seconds (100ms) by default.

      Returns:
      StatusCode of the set command

    • clearStickyFault_SaturatedAccelerometer

      public final 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_SaturatedGyroscope

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

      This will wait up to 0.100 seconds (100ms) by default.

      Returns:
      StatusCode of the set command

    • clearStickyFault_SaturatedGyroscope

      public final 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