`phoenix6.hardware.pigeon2`¶

Module Contents¶

class phoenix6.hardware.pigeon2.Pigeon2(device_id: int, canbus: phoenix6.canbus.CANBus | str = CANBus())¶

Bases: phoenix6.hardware.core.core_pigeon2.CorePigeon2, wpiutil.Sendable

Constructs a new Pigeon 2 sensor object.

Changed in version 2026: Constructing devices with a CAN bus string is deprecated for removal in the 2027 season. Construct devices using a CANBus instance instead.

Parameters:

device_id (int) – ID of the device, as configured in Phoenix Tuner
canbus (CANBus | str, optional) –
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

close()¶

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() → wpimath.geometry.Rotation2d¶

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
Return type:: Rotation2d

getRotation3d() → wpimath.geometry.Rotation3d¶

Returns the orientation of the robot as a Rotation3d created from the quaternion signals.

Returns:: The current orientation of the robot as a Rotation3d
Return type:: Rotation3d

initSendable(builder: wpiutil.SendableBuilder)¶

Initializes this Sendable object.

Parameters:: builder – sendable builder

phoenix6.hardware.pigeon2¶

Module Contents¶

`phoenix6.hardware.pigeon2`¶