Package com.ctre.phoenixpro.hardware

Class Pigeon2

java.lang.Object

com.ctre.phoenixpro.jni.CtreJniWrapper

com.ctre.phoenixpro.hardware.ParentDevice

com.ctre.phoenixpro.hardware.core.CorePigeon2

com.ctre.phoenixpro.hardware.Pigeon2

All Implemented Interfaces:

Sendable, Gyro, AutoCloseable

public class Pigeon2
extends CorePigeon2
implements Sendable, Gyro

Nested Class Summary

Nested classes/interfaces inherited from class com.ctre.phoenixpro.hardware.ParentDevice

ParentDevice.MapGenerator<T>

Field Summary

Fields inherited from class com.ctre.phoenixpro.hardware.ParentDevice

deviceIdentifier, kDefaultControlRatePeriodsSec

Constructor Summary

Constructors

Constructor	Description
Pigeon2(int deviceId)	Constructs a new Pigeon 2 sensor object.
Pigeon2(int deviceId, String canbus)	Constructs a new Pigeon 2 sensor object.

Method Summary

Modifier and Type	Method	Description
void	calibrate()	This function does nothing; it exists to satisfy the WPILib Gyro interface.
void	close()
double	getAngle()
double	getRate()
Rotation2d	getRotation2d()
void	initSendable(SendableBuilder builder)
void	reset()

Methods inherited from class com.ctre.phoenixpro.hardware.core.CorePigeon2

clearStickyFaults, clearStickyFaults, getAccelerationX, getAccelerationY, getAccelerationZ, getAccumGyroX, getAccumGyroY, getAccumGyroZ, getAngularVelocityX, getAngularVelocityY, getAngularVelocityZ, getConfigurator, 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, reportIfTooOld, setControl, setYaw, setYaw

Methods inherited from class com.ctre.phoenixpro.hardware.ParentDevice

getAppliedControl, getCANBus, getDeviceID, lookupStatusSignalValue, lookupStatusSignalValue, setControlPrivate

Methods inherited from class java.lang.Object

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

Constructor Details

Pigeon2

public Pigeon2(int deviceId)

Constructs a new Pigeon 2 sensor object.

Constructs the device using the default CAN bus for the system:

• "rio" on roboRIO
• "can0" on Linux
• "*" on Windows

Parameters:

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

Pigeon2

public Pigeon2(int deviceId, 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

Method Details

close

public void close()

Specified by:

close in interface AutoCloseable

calibrate

public void calibrate()

This function does nothing; it exists to satisfy the WPILib Gyro interface.

Pigeon 2 does not require manual calibration.

Specified by:

calibrate in interface Gyro

reset

public void reset()

Specified by:

reset in interface Gyro

getAngle

public double getAngle()

Specified by:

getAngle in interface Gyro

getRate

public double getRate()

Specified by:

getRate in interface Gyro

getRotation2d

public Rotation2d getRotation2d()

Specified by:

getRotation2d in interface Gyro

initSendable

public void initSendable(SendableBuilder builder)

Specified by:

initSendable in interface Sendable