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

#include <ctre/phoenixpro/core/CorePigeon2.hpp>

Inheritance diagram for ctre::phoenixpro::hardware::core::CorePigeon2:

Public Member Functions
	CorePigeon2 (int deviceId, std::string canbus="")
	Constructs a new Pigeon 2 sensor object. More...

	CorePigeon2 (CorePigeon2 const &)=delete

CorePigeon2 &	operator= (CorePigeon2 const &)=delete

bool	HasResetOccurred ()

configs::Pigeon2Configurator &	GetConfigurator ()
	Gets the configurator for this Pigeon2. More...

configs::Pigeon2Configurator const &	GetConfigurator () const
	Gets the configurator for this Pigeon2. More...

sim::Pigeon2SimState &	GetSimState ()
	Get the simulation state for this device. More...

StatusSignalValue< int > &	GetVersionMajor ()
	App Major Version number. More...

StatusSignalValue< int > &	GetVersionMinor ()
	App Minor Version number. More...

StatusSignalValue< int > &	GetVersionBugfix ()
	App Bugfix Version number. More...

StatusSignalValue< int > &	GetVersionBuild ()
	App Build Version number. More...

StatusSignalValue< int > &	GetVersion ()
	Full Version. More...

StatusSignalValue< int > &	GetFaultField ()
	Integer representing all faults. More...

StatusSignalValue< int > &	GetStickyFaultField ()
	Integer representing all sticky faults. More...

StatusSignalValue< units::angle::degree_t > &	GetYaw ()
	Current reported yaw of the Pigeon2. More...

StatusSignalValue< units::angle::degree_t > &	GetPitch ()
	Current reported pitch of the Pigeon2. More...

StatusSignalValue< units::angle::degree_t > &	GetRoll ()
	Current reported roll of the Pigeon2. More...

StatusSignalValue< units::dimensionless::scalar_t > &	GetQuatW ()
	The W component of the reported Quaternion. More...

StatusSignalValue< units::dimensionless::scalar_t > &	GetQuatX ()
	The X component of the reported Quaternion. More...

StatusSignalValue< units::dimensionless::scalar_t > &	GetQuatY ()
	The Y component of the reported Quaternion. More...

StatusSignalValue< units::dimensionless::scalar_t > &	GetQuatZ ()
	The Z component of the reported Quaternion. More...

StatusSignalValue< units::dimensionless::scalar_t > &	GetGravityVectorX ()
	The X component of the gravity vector. More...

StatusSignalValue< units::dimensionless::scalar_t > &	GetGravityVectorY ()
	The Y component of the gravity vector. More...

StatusSignalValue< units::dimensionless::scalar_t > &	GetGravityVectorZ ()
	The Z component of the gravity vector. More...

StatusSignalValue< units::temperature::celsius_t > &	GetTemperature ()
	Temperature of the Pigeon 2. More...

StatusSignalValue< bool > &	GetNoMotionEnabled ()
	Whether the no-motion calibration feature is enabled. More...

StatusSignalValue< units::dimensionless::scalar_t > &	GetNoMotionCount ()
	The number of times a no-motion event occurred, wraps at 15. More...

StatusSignalValue< bool > &	GetTemperatureCompensationDisabled ()
	Whether the temperature-compensation feature is disabled. More...

StatusSignalValue< units::time::second_t > &	GetUpTime ()
	How long the Pigeon 2's been up in seconds, caps at 255 seconds. More...

StatusSignalValue< units::angle::degree_t > &	GetAccumGyroX ()
	The accumulated gyro about the X axis without any sensor fusing. More...

StatusSignalValue< units::angle::degree_t > &	GetAccumGyroY ()
	The accumulated gyro about the Y axis without any sensor fusing. More...

StatusSignalValue< units::angle::degree_t > &	GetAccumGyroZ ()
	The accumulated gyro about the Z axis without any sensor fusing. More...

StatusSignalValue< units::angular_velocity::degrees_per_second_t > &	GetAngularVelocityX ()
	The angular velocity (ω) of the Pigeon 2 about the X axis. More...

StatusSignalValue< units::angular_velocity::degrees_per_second_t > &	GetAngularVelocityY ()
	The angular velocity (ω) of the Pigeon 2 about the Y axis. More...

StatusSignalValue< units::angular_velocity::degrees_per_second_t > &	GetAngularVelocityZ ()
	The angular velocity (ω) of the Pigeon 2 about the Z axis. More...

StatusSignalValue< units::acceleration::standard_gravity_t > &	GetAccelerationX ()
	The acceleration measured by Pigeon2 in the X direction. More...

StatusSignalValue< units::acceleration::standard_gravity_t > &	GetAccelerationY ()
	The acceleration measured by Pigeon2 in the Y direction. More...

StatusSignalValue< units::acceleration::standard_gravity_t > &	GetAccelerationZ ()
	The acceleration measured by Pigeon2 in the Z direction. More...

StatusSignalValue< units::voltage::volt_t > &	GetSupplyVoltage ()
	Measured supply voltage to the Pigeon2. More...

StatusSignalValue< units::magnetic_field_strength::microtesla_t > &	GetMagneticFieldX ()
	The biased magnitude of the magnetic field measured by the Pigeon 2 in the X direction. More...

StatusSignalValue< units::magnetic_field_strength::microtesla_t > &	GetMagneticFieldY ()
	The biased magnitude of the magnetic field measured by the Pigeon 2 in the Y direction. More...

StatusSignalValue< units::magnetic_field_strength::microtesla_t > &	GetMagneticFieldZ ()
	The biased magnitude of the magnetic field measured by the Pigeon 2 in the Z direction. More...

StatusSignalValue< units::magnetic_field_strength::microtesla_t > &	GetRawMagneticFieldX ()
	The raw magnitude of the magnetic field measured by the Pigeon 2 in the X direction. More...

StatusSignalValue< units::magnetic_field_strength::microtesla_t > &	GetRawMagneticFieldY ()
	The raw magnitude of the magnetic field measured by the Pigeon 2 in the Y direction. More...

StatusSignalValue< units::magnetic_field_strength::microtesla_t > &	GetRawMagneticFieldZ ()
	The raw magnitude of the magnetic field measured by the Pigeon 2 in the Z direction. More...

StatusSignalValue< bool > &	GetFault_Hardware ()
	Hardware fault occurred. More...

StatusSignalValue< bool > &	GetStickyFault_Hardware ()
	Hardware fault occurred. More...

StatusSignalValue< bool > &	GetFault_Undervoltage ()
	Device supply voltage dropped to near brownout levels. More...

StatusSignalValue< bool > &	GetStickyFault_Undervoltage ()
	Device supply voltage dropped to near brownout levels. More...

StatusSignalValue< bool > &	GetFault_BootDuringEnable ()
	Device boot while detecting the enable signal. More...

StatusSignalValue< bool > &	GetStickyFault_BootDuringEnable ()
	Device boot while detecting the enable signal. More...

StatusSignalValue< bool > &	GetFault_BootupAccelerometer ()
	Bootup checks failed: Accelerometer. More...

StatusSignalValue< bool > &	GetStickyFault_BootupAccelerometer ()
	Bootup checks failed: Accelerometer. More...

StatusSignalValue< bool > &	GetFault_BootupGyroscope ()
	Bootup checks failed: Gyroscope. More...

StatusSignalValue< bool > &	GetStickyFault_BootupGyroscope ()
	Bootup checks failed: Gyroscope. More...

StatusSignalValue< bool > &	GetFault_BootupMagnetometer ()
	Bootup checks failed: Magnetometer. More...

StatusSignalValue< bool > &	GetStickyFault_BootupMagnetometer ()
	Bootup checks failed: Magnetometer. More...

StatusSignalValue< bool > &	GetFault_BootIntoMotion ()
	Motion Detected during bootup. More...

StatusSignalValue< bool > &	GetStickyFault_BootIntoMotion ()
	Motion Detected during bootup. More...

StatusSignalValue< bool > &	GetFault_DataAcquiredLate ()
	Motion stack data acquisition was slower than expected. More...

StatusSignalValue< bool > &	GetStickyFault_DataAcquiredLate ()
	Motion stack data acquisition was slower than expected. More...

StatusSignalValue< bool > &	GetFault_LoopTimeSlow ()
	Motion stack loop time was slower than expected. More...

StatusSignalValue< bool > &	GetStickyFault_LoopTimeSlow ()
	Motion stack loop time was slower than expected. More...

StatusSignalValue< bool > &	GetFault_SaturatedMagneter ()
	Magnetometer values are saturated. More...

StatusSignalValue< bool > &	GetStickyFault_SaturatedMagneter ()
	Magnetometer values are saturated. More...

StatusSignalValue< bool > &	GetFault_SaturatedAccelometer ()
	Accelerometer values are saturated. More...

StatusSignalValue< bool > &	GetStickyFault_SaturatedAccelometer ()
	Accelerometer values are saturated. More...

StatusSignalValue< bool > &	GetFault_SaturatedGyrosscope ()
	Gyroscope values are saturated. More...

StatusSignalValue< bool > &	GetStickyFault_SaturatedGyrosscope ()
	Gyroscope values are saturated. More...

ctre::phoenix::StatusCode	SetControl (controls::ControlRequest &request)
	Control motor with generic control request object. More...

ctre::phoenix::StatusCode	SetControl (controls::ControlRequest &&request)
	Control motor with generic control request object. More...

ctre::phoenix::StatusCode	SetYaw (units::angle::degree_t newValue, units::time::second_t timeoutSeconds)
	The yaw to set the Pigeon2 to right now. More...

ctre::phoenix::StatusCode	SetYaw (units::angle::degree_t newValue)
	The yaw to set the Pigeon2 to right now. More...

ctre::phoenix::StatusCode	ClearStickyFaults (units::time::second_t timeoutSeconds)
	Clear the sticky faults in the device. More...

ctre::phoenix::StatusCode	ClearStickyFaults ()
	Clear the sticky faults in the device. More...

Public Member Functions inherited from ctre::phoenixpro::hardware::ParentDevice
	ParentDevice (int deviceID, std::string model, std::string canbus)

int	GetDeviceID () const

const std::string &	GetCANBus () const

std::shared_ptr< const controls::ControlRequest >	GetAppliedControl () const
	Get the latest applied control. More...

std::shared_ptr< controls::ControlRequest >	GetAppliedControl ()
	Get the latest applied control. More...

Additional Inherited Members
Static Public Attributes inherited from ctre::phoenixpro::hardware::ParentDevice
static constexpr double	kDefaultControlRatePeriodsSec = 0.010

Protected Member Functions inherited from ctre::phoenixpro::hardware::ParentDevice
virtual void	ReportIfTooOld ()=0

virtual ctre::phoenix::StatusCode	SetControlPrivate (controls::ControlRequest &request)

template<typename T >
StatusSignalValue< T > &	LookupStatusSignalValue (uint16_t spn, std::string signalName, bool reportOnConstruction)

template<typename T >
StatusSignalValue< T > &	LookupStatusSignalValue (uint16_t spn, uint16_t mapper_iter, std::function< std::map< int, StatusSignalValue< T > >()> map_filler, std::string signalName, bool reportOnConstruction)

template<typename T , typename U >
StatusSignalValue< T >	LookupDimensionlessStatusSignalValue (uint16_t spn, std::string signalName)
	Returns a unitless version of the StatusSignalValue by value. More...

void	ReportIfTooOld (int minMajor, int minMinor, int minBugfix, int minBuild)

Protected Attributes inherited from ctre::phoenixpro::hardware::ParentDevice
DeviceIdentifier	deviceIdentifier

Detailed Description

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

Constructor & Destructor Documentation

◆ CorePigeon2() [1/2]

ctre::phoenixpro::hardware::core::CorePigeon2::CorePigeon2	(	int	deviceId,
		std::string	canbus = `""`
	)

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() [2/2]

ctre::phoenixpro::hardware::core::CorePigeon2::CorePigeon2 ( CorePigeon2 const & )

delete

Member Function Documentation

◆ ClearStickyFaults() [1/2]

ctre::phoenix::StatusCode ctre::phoenixpro::hardware::core::CorePigeon2::ClearStickyFaults ( )

inline

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 0.050 seconds (50ms) by default.

Returns: StatusCode of the set command

◆ ClearStickyFaults() [2/2]

ctre::phoenix::StatusCode ctre::phoenixpro::hardware::core::CorePigeon2::ClearStickyFaults ( units::time::second_t timeoutSeconds )

inline

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

◆ GetAccelerationX()

StatusSignalValue< units::acceleration::standard_gravity_t > & ctre::phoenixpro::hardware::core::CorePigeon2::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

Returns: AccelerationX Status Signal Value object

◆ GetAccelerationY()

StatusSignalValue< units::acceleration::standard_gravity_t > & ctre::phoenixpro::hardware::core::CorePigeon2::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

Returns: AccelerationY Status Signal Value object

◆ GetAccelerationZ()

StatusSignalValue< units::acceleration::standard_gravity_t > & ctre::phoenixpro::hardware::core::CorePigeon2::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

Returns: AccelerationZ Status Signal Value object

◆ GetAccumGyroX()

StatusSignalValue< units::angle::degree_t > & ctre::phoenixpro::hardware::core::CorePigeon2::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: 10.0 Hz CAN FD: 100.0 Hz

Returns: AccumGyroX Status Signal Value object

◆ GetAccumGyroY()

StatusSignalValue< units::angle::degree_t > & ctre::phoenixpro::hardware::core::CorePigeon2::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: 10.0 Hz CAN FD: 100.0 Hz

Returns: AccumGyroY Status Signal Value object

◆ GetAccumGyroZ()

StatusSignalValue< units::angle::degree_t > & ctre::phoenixpro::hardware::core::CorePigeon2::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: 10.0 Hz CAN FD: 100.0 Hz

Returns: AccumGyroZ Status Signal Value object

◆ GetAngularVelocityX()

StatusSignalValue< units::angular_velocity::degrees_per_second_t > & ctre::phoenixpro::hardware::core::CorePigeon2::GetAngularVelocityX ( )

The angular velocity (ω) of the Pigeon 2 about the X axis.

Minimum Value: -1998.048780487805 Maximum Value: 1997.987804878049 Default Value: 0 Units: dps

Default Rates: CAN 2.0: 10.0 Hz CAN FD: 100.0 Hz

Returns: AngularVelocityX Status Signal Value object

◆ GetAngularVelocityY()

StatusSignalValue< units::angular_velocity::degrees_per_second_t > & ctre::phoenixpro::hardware::core::CorePigeon2::GetAngularVelocityY ( )

The angular velocity (ω) of the Pigeon 2 about the Y axis.

Minimum Value: -1998.048780487805 Maximum Value: 1997.987804878049 Default Value: 0 Units: dps

Default Rates: CAN 2.0: 10.0 Hz CAN FD: 100.0 Hz

Returns: AngularVelocityY Status Signal Value object

◆ GetAngularVelocityZ()

StatusSignalValue< units::angular_velocity::degrees_per_second_t > & ctre::phoenixpro::hardware::core::CorePigeon2::GetAngularVelocityZ ( )

The angular velocity (ω) of the Pigeon 2 about the Z axis.

Minimum Value: -1998.048780487805 Maximum Value: 1997.987804878049 Default Value: 0 Units: dps

Default Rates: CAN 2.0: 10.0 Hz CAN FD: 100.0 Hz

Returns: AngularVelocityZ Status Signal Value object

◆ GetConfigurator() [1/2]

configs::Pigeon2Configurator & ctre::phoenixpro::hardware::core::CorePigeon2::GetConfigurator ( )

inline

Gets the configurator for this Pigeon2.

Gets the configurator for this Pigeon2

Returns: Configurator for this Pigeon2

◆ GetConfigurator() [2/2]

configs::Pigeon2Configurator const & ctre::phoenixpro::hardware::core::CorePigeon2::GetConfigurator ( ) const

inline

Gets the configurator for this Pigeon2.

Gets the configurator for this Pigeon2

Returns: Configurator for this Pigeon2

◆ GetFault_BootDuringEnable()

StatusSignalValue< bool > & ctre::phoenixpro::hardware::core::CorePigeon2::GetFault_BootDuringEnable ( )

Device boot while detecting the enable signal.

Default Value: False

Default Rates: CAN: 4.0 Hz

Returns: Fault_BootDuringEnable Status Signal Value object

◆ GetFault_BootIntoMotion()

StatusSignalValue< bool > & ctre::phoenixpro::hardware::core::CorePigeon2::GetFault_BootIntoMotion ( )

Motion Detected during bootup.

Default Value: False

Default Rates: CAN: 4.0 Hz

Returns: Fault_BootIntoMotion Status Signal Value object

◆ GetFault_BootupAccelerometer()

StatusSignalValue< bool > & ctre::phoenixpro::hardware::core::CorePigeon2::GetFault_BootupAccelerometer ( )

Bootup checks failed: Accelerometer.

Default Value: False

Default Rates: CAN: 4.0 Hz

Returns: Fault_BootupAccelerometer Status Signal Value object

◆ GetFault_BootupGyroscope()

StatusSignalValue< bool > & ctre::phoenixpro::hardware::core::CorePigeon2::GetFault_BootupGyroscope ( )

Bootup checks failed: Gyroscope.

Default Value: False

Default Rates: CAN: 4.0 Hz

Returns: Fault_BootupGyroscope Status Signal Value object

◆ GetFault_BootupMagnetometer()

StatusSignalValue< bool > & ctre::phoenixpro::hardware::core::CorePigeon2::GetFault_BootupMagnetometer ( )

Bootup checks failed: Magnetometer.

Default Value: False

Default Rates: CAN: 4.0 Hz

Returns: Fault_BootupMagnetometer Status Signal Value object

◆ GetFault_DataAcquiredLate()

StatusSignalValue< bool > & ctre::phoenixpro::hardware::core::CorePigeon2::GetFault_DataAcquiredLate ( )

Motion stack data acquisition was slower than expected.

Default Value: False

Default Rates: CAN: 4.0 Hz

Returns: Fault_DataAcquiredLate Status Signal Value object

◆ GetFault_Hardware()

StatusSignalValue< bool > & ctre::phoenixpro::hardware::core::CorePigeon2::GetFault_Hardware ( )

Hardware fault occurred.

Default Value: False

Default Rates: CAN: 4.0 Hz

Returns: Fault_Hardware Status Signal Value object

◆ GetFault_LoopTimeSlow()

StatusSignalValue< bool > & ctre::phoenixpro::hardware::core::CorePigeon2::GetFault_LoopTimeSlow ( )

Motion stack loop time was slower than expected.

Default Value: False

Default Rates: CAN: 4.0 Hz

Returns: Fault_LoopTimeSlow Status Signal Value object

◆ GetFault_SaturatedAccelometer()

StatusSignalValue< bool > & ctre::phoenixpro::hardware::core::CorePigeon2::GetFault_SaturatedAccelometer ( )

Accelerometer values are saturated.

Default Value: False

Default Rates: CAN: 4.0 Hz

Returns: Fault_SaturatedAccelometer Status Signal Value object

◆ GetFault_SaturatedGyrosscope()

StatusSignalValue< bool > & ctre::phoenixpro::hardware::core::CorePigeon2::GetFault_SaturatedGyrosscope ( )

Gyroscope values are saturated.

Default Value: False

Default Rates: CAN: 4.0 Hz

Returns: Fault_SaturatedGyrosscope Status Signal Value object

◆ GetFault_SaturatedMagneter()

StatusSignalValue< bool > & ctre::phoenixpro::hardware::core::CorePigeon2::GetFault_SaturatedMagneter ( )

Magnetometer values are saturated.

Default Value: False

Default Rates: CAN: 4.0 Hz

Returns: Fault_SaturatedMagneter Status Signal Value object

◆ GetFault_Undervoltage()

StatusSignalValue< bool > & ctre::phoenixpro::hardware::core::CorePigeon2::GetFault_Undervoltage ( )

Device supply voltage dropped to near brownout levels.

Default Value: False

Default Rates: CAN: 4.0 Hz

Returns: Fault_Undervoltage Status Signal Value object

◆ GetFaultField()

StatusSignalValue< int > & ctre::phoenixpro::hardware::core::CorePigeon2::GetFaultField ( )

Integer representing all faults.

This returns the 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: 1048575 Default Value: 0 Units:

Default Rates: CAN: 4.0 Hz

Returns: FaultField Status Signal Value object

◆ GetGravityVectorX()

StatusSignalValue< units::dimensionless::scalar_t > & ctre::phoenixpro::hardware::core::CorePigeon2::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

Returns: GravityVectorX Status Signal Value object

◆ GetGravityVectorY()

StatusSignalValue< units::dimensionless::scalar_t > & ctre::phoenixpro::hardware::core::CorePigeon2::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

Returns: GravityVectorY Status Signal Value object

◆ GetGravityVectorZ()

StatusSignalValue< units::dimensionless::scalar_t > & ctre::phoenixpro::hardware::core::CorePigeon2::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

Returns: GravityVectorZ Status Signal Value object

◆ GetMagneticFieldX()

StatusSignalValue< units::magnetic_field_strength::microtesla_t > & ctre::phoenixpro::hardware::core::CorePigeon2::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: 5.0 Hz

Returns: MagneticFieldX Status Signal Value object

◆ GetMagneticFieldY()

StatusSignalValue< units::magnetic_field_strength::microtesla_t > & ctre::phoenixpro::hardware::core::CorePigeon2::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: 5.0 Hz

Returns: MagneticFieldY Status Signal Value object

◆ GetMagneticFieldZ()

StatusSignalValue< units::magnetic_field_strength::microtesla_t > & ctre::phoenixpro::hardware::core::CorePigeon2::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: 5.0 Hz

Returns: MagneticFieldZ Status Signal Value object

◆ GetNoMotionCount()

StatusSignalValue< units::dimensionless::scalar_t > & ctre::phoenixpro::hardware::core::CorePigeon2::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: 10.0 Hz CAN FD: 100.0 Hz

Returns: NoMotionCount Status Signal Value object

◆ GetNoMotionEnabled()

StatusSignalValue< bool > & ctre::phoenixpro::hardware::core::CorePigeon2::GetNoMotionEnabled ( )

Whether the no-motion calibration feature is enabled.

Default Value: 0

Default Rates: CAN 2.0: 10.0 Hz CAN FD: 100.0 Hz

Returns: NoMotionEnabled Status Signal Value object

◆ GetPitch()

StatusSignalValue< units::angle::degree_t > & ctre::phoenixpro::hardware::core::CorePigeon2::GetPitch ( )

Current reported pitch of the Pigeon2.

Minimum Value: -90.0 Maximum Value: 89.9560546875 Default Value: 0 Units: deg

Default Rates: CAN: 100.0 Hz

Returns: Pitch Status Signal Value object

◆ GetQuatW()

StatusSignalValue< units::dimensionless::scalar_t > & ctre::phoenixpro::hardware::core::CorePigeon2::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

Returns: QuatW Status Signal Value object

◆ GetQuatX()

StatusSignalValue< units::dimensionless::scalar_t > & ctre::phoenixpro::hardware::core::CorePigeon2::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

Returns: QuatX Status Signal Value object

◆ GetQuatY()

StatusSignalValue< units::dimensionless::scalar_t > & ctre::phoenixpro::hardware::core::CorePigeon2::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

Returns: QuatY Status Signal Value object

◆ GetQuatZ()

StatusSignalValue< units::dimensionless::scalar_t > & ctre::phoenixpro::hardware::core::CorePigeon2::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

Returns: QuatZ Status Signal Value object

◆ GetRawMagneticFieldX()

StatusSignalValue< units::magnetic_field_strength::microtesla_t > & ctre::phoenixpro::hardware::core::CorePigeon2::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: 5.0 Hz

Returns: RawMagneticFieldX Status Signal Value object

◆ GetRawMagneticFieldY()

StatusSignalValue< units::magnetic_field_strength::microtesla_t > & ctre::phoenixpro::hardware::core::CorePigeon2::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: 5.0 Hz

Returns: RawMagneticFieldY Status Signal Value object

◆ GetRawMagneticFieldZ()

StatusSignalValue< units::magnetic_field_strength::microtesla_t > & ctre::phoenixpro::hardware::core::CorePigeon2::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: 5.0 Hz

Returns: RawMagneticFieldZ Status Signal Value object

◆ GetRoll()

StatusSignalValue< units::angle::degree_t > & ctre::phoenixpro::hardware::core::CorePigeon2::GetRoll ( )

Current reported roll of the Pigeon2.

Minimum Value: -180.0 Maximum Value: 179.9560546875 Default Value: 0 Units: deg

Default Rates: CAN: 100.0 Hz

Returns: Roll Status Signal Value object

◆ GetSimState()

sim::Pigeon2SimState & ctre::phoenixpro::hardware::core::CorePigeon2::GetSimState ( )

inline

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

◆ GetStickyFault_BootDuringEnable()

StatusSignalValue< bool > & ctre::phoenixpro::hardware::core::CorePigeon2::GetStickyFault_BootDuringEnable ( )

Device boot while detecting the enable signal.

Default Value: False

Default Rates: CAN: 4.0 Hz

Returns: StickyFault_BootDuringEnable Status Signal Value object

◆ GetStickyFault_BootIntoMotion()

StatusSignalValue< bool > & ctre::phoenixpro::hardware::core::CorePigeon2::GetStickyFault_BootIntoMotion ( )

Motion Detected during bootup.

Default Value: False

Default Rates: CAN: 4.0 Hz

Returns: StickyFault_BootIntoMotion Status Signal Value object

◆ GetStickyFault_BootupAccelerometer()

StatusSignalValue< bool > & ctre::phoenixpro::hardware::core::CorePigeon2::GetStickyFault_BootupAccelerometer ( )

Bootup checks failed: Accelerometer.

Default Value: False

Default Rates: CAN: 4.0 Hz

Returns: StickyFault_BootupAccelerometer Status Signal Value object

◆ GetStickyFault_BootupGyroscope()

StatusSignalValue< bool > & ctre::phoenixpro::hardware::core::CorePigeon2::GetStickyFault_BootupGyroscope ( )

Bootup checks failed: Gyroscope.

Default Value: False

Default Rates: CAN: 4.0 Hz

Returns: StickyFault_BootupGyroscope Status Signal Value object

◆ GetStickyFault_BootupMagnetometer()

StatusSignalValue< bool > & ctre::phoenixpro::hardware::core::CorePigeon2::GetStickyFault_BootupMagnetometer ( )

Bootup checks failed: Magnetometer.

Default Value: False

Default Rates: CAN: 4.0 Hz

Returns: StickyFault_BootupMagnetometer Status Signal Value object

◆ GetStickyFault_DataAcquiredLate()

StatusSignalValue< bool > & ctre::phoenixpro::hardware::core::CorePigeon2::GetStickyFault_DataAcquiredLate ( )

Motion stack data acquisition was slower than expected.

Default Value: False

Default Rates: CAN: 4.0 Hz

Returns: StickyFault_DataAcquiredLate Status Signal Value object

◆ GetStickyFault_Hardware()

StatusSignalValue< bool > & ctre::phoenixpro::hardware::core::CorePigeon2::GetStickyFault_Hardware ( )

Hardware fault occurred.

Default Value: False

Default Rates: CAN: 4.0 Hz

Returns: StickyFault_Hardware Status Signal Value object

◆ GetStickyFault_LoopTimeSlow()

StatusSignalValue< bool > & ctre::phoenixpro::hardware::core::CorePigeon2::GetStickyFault_LoopTimeSlow ( )

Motion stack loop time was slower than expected.

Default Value: False

Default Rates: CAN: 4.0 Hz

Returns: StickyFault_LoopTimeSlow Status Signal Value object

◆ GetStickyFault_SaturatedAccelometer()

StatusSignalValue< bool > & ctre::phoenixpro::hardware::core::CorePigeon2::GetStickyFault_SaturatedAccelometer ( )

Accelerometer values are saturated.

Default Value: False

Default Rates: CAN: 4.0 Hz

Returns: StickyFault_SaturatedAccelometer Status Signal Value object

◆ GetStickyFault_SaturatedGyrosscope()

StatusSignalValue< bool > & ctre::phoenixpro::hardware::core::CorePigeon2::GetStickyFault_SaturatedGyrosscope ( )

Gyroscope values are saturated.

Default Value: False

Default Rates: CAN: 4.0 Hz

Returns: StickyFault_SaturatedGyrosscope Status Signal Value object

◆ GetStickyFault_SaturatedMagneter()

StatusSignalValue< bool > & ctre::phoenixpro::hardware::core::CorePigeon2::GetStickyFault_SaturatedMagneter ( )

Magnetometer values are saturated.

Default Value: False

Default Rates: CAN: 4.0 Hz

Returns: StickyFault_SaturatedMagneter Status Signal Value object

◆ GetStickyFault_Undervoltage()

StatusSignalValue< bool > & ctre::phoenixpro::hardware::core::CorePigeon2::GetStickyFault_Undervoltage ( )

Device supply voltage dropped to near brownout levels.

Default Value: False

Default Rates: CAN: 4.0 Hz

Returns: StickyFault_Undervoltage Status Signal Value object

◆ GetStickyFaultField()

StatusSignalValue< int > & ctre::phoenixpro::hardware::core::CorePigeon2::GetStickyFaultField ( )

Integer representing all sticky faults.

This returns the 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: 1048575 Default Value: 0 Units:

Default Rates: CAN: 4.0 Hz

Returns: StickyFaultField Status Signal Value object

◆ GetSupplyVoltage()

StatusSignalValue< units::voltage::volt_t > & ctre::phoenixpro::hardware::core::CorePigeon2::GetSupplyVoltage ( )

Measured supply voltage to the Pigeon2.

Minimum Value: 0.0 Maximum Value: 31.99951171875 Default Value: 0 Units: V

Default Rates: CAN: 10.0 Hz

Returns: SupplyVoltage Status Signal Value object

◆ GetTemperature()

StatusSignalValue< units::temperature::celsius_t > & ctre::phoenixpro::hardware::core::CorePigeon2::GetTemperature ( )

Temperature of the Pigeon 2.

Minimum Value: -128.0 Maximum Value: 127.99609375 Default Value: 0 Units: ℃

Default Rates: CAN 2.0: 10.0 Hz CAN FD: 100.0 Hz

Returns: Temperature Status Signal Value object

◆ GetTemperatureCompensationDisabled()

StatusSignalValue< bool > & ctre::phoenixpro::hardware::core::CorePigeon2::GetTemperatureCompensationDisabled ( )

Whether the temperature-compensation feature is disabled.

Default Value: 0

Default Rates: CAN 2.0: 10.0 Hz CAN FD: 100.0 Hz

Returns: TemperatureCompensationDisabled Status Signal Value object

◆ GetUpTime()

StatusSignalValue< units::time::second_t > & ctre::phoenixpro::hardware::core::CorePigeon2::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: 10.0 Hz CAN FD: 100.0 Hz

Returns: UpTime Status Signal Value object

◆ GetVersion()

StatusSignalValue< int > & ctre::phoenixpro::hardware::core::CorePigeon2::GetVersion ( )

Full Version.

The format is a four byte value.

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

Returns: Version Status Signal Value object

◆ GetVersionBugfix()

StatusSignalValue< int > & ctre::phoenixpro::hardware::core::CorePigeon2::GetVersionBugfix ( )

App Bugfix Version number.

Minimum Value: 0 Maximum Value: 255 Default Value: 0 Units:

Default Rates: CAN: 4.0 Hz

Returns: VersionBugfix Status Signal Value object

◆ GetVersionBuild()

StatusSignalValue< int > & ctre::phoenixpro::hardware::core::CorePigeon2::GetVersionBuild ( )

App Build Version number.

Minimum Value: 0 Maximum Value: 255 Default Value: 0 Units:

Default Rates: CAN: 4.0 Hz

Returns: VersionBuild Status Signal Value object

◆ GetVersionMajor()

StatusSignalValue< int > & ctre::phoenixpro::hardware::core::CorePigeon2::GetVersionMajor ( )

App Major Version number.

Minimum Value: 0 Maximum Value: 255 Default Value: 0 Units:

Default Rates: CAN: 4.0 Hz

Returns: VersionMajor Status Signal Value object

◆ GetVersionMinor()

StatusSignalValue< int > & ctre::phoenixpro::hardware::core::CorePigeon2::GetVersionMinor ( )

App Minor Version number.

Minimum Value: 0 Maximum Value: 255 Default Value: 0 Units:

Default Rates: CAN: 4.0 Hz

Returns: VersionMinor Status Signal Value object

◆ GetYaw()

StatusSignalValue< units::angle::degree_t > & ctre::phoenixpro::hardware::core::CorePigeon2::GetYaw ( )

Current reported yaw of the Pigeon2.

Minimum Value: -368640.0 Maximum Value: 368639.99725341797 Default Value: 0 Units: deg

Default Rates: CAN: 100.0 Hz

Returns: Yaw Status Signal Value object

◆ HasResetOccurred()

bool ctre::phoenixpro::hardware::core::CorePigeon2::HasResetOccurred ( )

Returns: true if device has reset since the previous call of this routine.

◆ operator=()

CorePigeon2 & ctre::phoenixpro::hardware::core::CorePigeon2::operator= ( CorePigeon2 const & )

delete

◆ SetControl() [1/2]

ctre::phoenix::StatusCode ctre::phoenixpro::hardware::core::CorePigeon2::SetControl ( controls::ControlRequest && request )

inline

Control motor with generic control request object.

User must make sure the specified object is castable to a valid control request, otherwise this function will fail at run-time and return the corresponding StatusCode

Parameters

request Control object to request of the device

Returns: Status Code of the request, 0 is OK

◆ SetControl() [2/2]

ctre::phoenix::StatusCode ctre::phoenixpro::hardware::core::CorePigeon2::SetControl ( controls::ControlRequest & request )

inline

Control motor with generic control request object.

User must make sure the specified object is castable to a valid control request, otherwise this function will fail at run-time and return the NotSupported StatusCode

Parameters

request Control object to request of the device

Returns: Status Code of the request, 0 is OK

◆ SetYaw() [1/2]

ctre::phoenix::StatusCode ctre::phoenixpro::hardware::core::CorePigeon2::SetYaw ( units::angle::degree_t newValue )

inline

The yaw to set the Pigeon2 to right now.

This will wait up to 0.050 seconds (50ms) by default.

Parameters

newValue Value to set to.

Returns: StatusCode of the set command

◆ SetYaw() [2/2]

ctre::phoenix::StatusCode ctre::phoenixpro::hardware::core::CorePigeon2::SetYaw	(	units::angle::degree_t	newValue,
		units::time::second_t	timeoutSeconds
	)

inline

The yaw to set the Pigeon2 to right now.

Parameters

newValue	Value to set to.
timeoutSeconds	Maximum time to wait up to in seconds.

Returns: StatusCode of the set command

The documentation for this class was generated from the following file:

ctre/phoenixpro/core/CorePigeon2.hpp

Public Member Functions

Additional Inherited Members

Detailed Description

Constructor & Destructor Documentation

◆ CorePigeon2() [1/2]

◆ CorePigeon2() [2/2]

Member Function Documentation

◆ ClearStickyFaults() [1/2]

◆ ClearStickyFaults() [2/2]

◆ GetAccelerationX()

◆ GetAccelerationY()

◆ GetAccelerationZ()

◆ GetAccumGyroX()

◆ GetAccumGyroY()

◆ GetAccumGyroZ()

◆ GetAngularVelocityX()

◆ GetAngularVelocityY()

◆ GetAngularVelocityZ()

◆ GetConfigurator() [1/2]

◆ GetConfigurator() [2/2]

◆ GetFault_BootDuringEnable()

◆ GetFault_BootIntoMotion()

◆ GetFault_BootupAccelerometer()

◆ GetFault_BootupGyroscope()

◆ GetFault_BootupMagnetometer()

◆ GetFault_DataAcquiredLate()

◆ GetFault_Hardware()

◆ GetFault_LoopTimeSlow()

◆ GetFault_SaturatedAccelometer()

◆ GetFault_SaturatedGyrosscope()

◆ GetFault_SaturatedMagneter()

◆ GetFault_Undervoltage()

◆ GetFaultField()

◆ GetGravityVectorX()

◆ GetGravityVectorY()

◆ GetGravityVectorZ()

◆ GetMagneticFieldX()

◆ GetMagneticFieldY()

◆ GetMagneticFieldZ()

◆ GetNoMotionCount()

◆ GetNoMotionEnabled()

◆ GetPitch()

◆ GetQuatW()

◆ GetQuatX()

◆ GetQuatY()

◆ GetQuatZ()

◆ GetRawMagneticFieldX()

◆ GetRawMagneticFieldY()

◆ GetRawMagneticFieldZ()

◆ GetRoll()

◆ GetSimState()

◆ GetStickyFault_BootDuringEnable()

◆ GetStickyFault_BootIntoMotion()

◆ GetStickyFault_BootupAccelerometer()

◆ GetStickyFault_BootupGyroscope()

◆ GetStickyFault_BootupMagnetometer()

◆ GetStickyFault_DataAcquiredLate()

◆ GetStickyFault_Hardware()

◆ GetStickyFault_LoopTimeSlow()

◆ GetStickyFault_SaturatedAccelometer()

◆ GetStickyFault_SaturatedGyrosscope()

◆ GetStickyFault_SaturatedMagneter()

◆ GetStickyFault_Undervoltage()

◆ GetStickyFaultField()

◆ GetSupplyVoltage()

◆ GetTemperature()

◆ GetTemperatureCompensationDisabled()

◆ GetUpTime()

◆ GetVersion()

◆ GetVersionBugfix()

◆ GetVersionBuild()

◆ GetVersionMajor()

◆ GetVersionMinor()

◆ GetYaw()

◆ HasResetOccurred()

◆ operator=()

◆ SetControl() [1/2]

◆ SetControl() [2/2]

◆ SetYaw() [1/2]

◆ SetYaw() [2/2]