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

Class description for the Pigeon 2 IMU sensor that measures orientation.

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

classmethod 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

Return type:

Pigeon2

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