Package com.ctre.phoenixpro.configs

Class Pigeon2Configuration

java.lang.Object

com.ctre.phoenixpro.configs.Pigeon2Configuration

All Implemented Interfaces:

ParentConfiguration, ISerializable

public class Pigeon2Configuration
extends Object
implements ParentConfiguration

Class description for the Pigeon 2 IMU sensor that measures orientation. This handles the configurations for the Pigeon2

Field Summary

Fields

Modifier and Type	Field	Description
boolean	FutureProofConfigs	True if we should factory default newer unsupported configs, false to leave newer unsupported configs alone.
GyroTrimConfigs	GyroTrim	Configs to trim the Pigeon2's gyroscope.
MountPoseConfigs	MountPose	Configs for Pigeon 2's Mount Pose configuration.
Pigeon2FeaturesConfigs	Pigeon2Features	Configs to enable/disable various features of the Pigeon2.

Constructor Summary

Constructors

Constructor	Description
Pigeon2Configuration()

Method Summary

Modifier and Type	Method	Description
StatusCode	deserialize(String string)	Take a string and deserialize it to this configuration
String	serialize()	Get the serialized form of this configuration
String	toString()

Methods inherited from class java.lang.Object

clone, equals, finalize, getClass, hashCode, notify, notifyAll, wait, wait, wait

Field Details

FutureProofConfigs

public boolean FutureProofConfigs

True if we should factory default newer unsupported configs, false to leave newer unsupported configs alone.

This flag addresses a corner case where the device may have firmware with newer configs that didn't exist when this version of the API was built. If this occurs and this flag is true, unsupported new configs will be factory defaulted to avoid unexpected behavior.

This is also the behavior in Phoenix 5, so this flag is defaulted to true to match.

MountPose

public MountPoseConfigs MountPose

Configs for Pigeon 2's Mount Pose configuration.

These configs allow the Pigeon2 to be mounted in whatever orientation that's desired and ensure the reported Yaw/Pitch/Roll is from the robot's reference.

GyroTrim

public GyroTrimConfigs GyroTrim

Configs to trim the Pigeon2's gyroscope.

Pigeon2 allows the user to trim the gyroscope's sensitivity. While this isn't necessary for the Pigeon2, as it comes calibrated out-of-the-box, users can make use of this to make the Pigeon2 even more accurate for their application.

Pigeon2Features

public Pigeon2FeaturesConfigs Pigeon2Features

Configs to enable/disable various features of the Pigeon2.

These configs allow the user to enable or disable various aspects of the Pigeon2.

Constructor Details

Pigeon2Configuration

public Pigeon2Configuration()

Method Details

toString

public String toString()

Overrides:

toString in class Object

serialize

public String serialize()

Get the serialized form of this configuration

Specified by:

serialize in interface ISerializable

Returns:

Serialized form of this config group

deserialize

public StatusCode deserialize(String string)

Take a string and deserialize it to this configuration

Specified by:

deserialize in interface ParentConfiguration

Returns:

Return code of the deserialize method