Package com.ctre.phoenixpro.sim

Class Pigeon2SimState

java.lang.Object

com.ctre.phoenixpro.sim.Pigeon2SimState

public class Pigeon2SimState
extends Object

Class to control the state of a simulated Pigeon2.

Constructor Summary

Constructors

Constructor	Description
Pigeon2SimState(CorePigeon2 device)	Creates an object to control the state of the given Pigeon2.

Method Summary

Modifier and Type	Method	Description
StatusCode	setPitch(double deg)	Sets the simulated pitch of the Pigeon2.
StatusCode	setRawYaw(double deg)	Sets the simulated raw yaw of the Pigeon2.
StatusCode	setRoll(double deg)	Sets the simulated roll of the Pigeon2.
StatusCode	setSupplyVoltage(double volts)	Sets the simulated supply voltage of the Pigeon2.

Methods inherited from class java.lang.Object

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

Constructor Details

Pigeon2SimState

public Pigeon2SimState(CorePigeon2 device)

Creates an object to control the state of the given Pigeon2.

Parameters:

device - Device to which this simulation state is attached

Method Details

setSupplyVoltage

public StatusCode setSupplyVoltage(double volts)

Sets the simulated supply voltage of the Pigeon2.

The minimum allowed supply voltage is 4 V - values below this will be promoted to 4 V.

Parameters:

volts - The supply voltage in Volts

Returns:

Status code

setRawYaw

public StatusCode setRawYaw(double deg)

Sets the simulated raw yaw of the Pigeon2.

Inputs to this function over time should be continuous, as user calls of CorePigeon2.setYaw(double, double) will be accounted for in the callee.

The Pigeon2 integrates this to calculate the true reported yaw.

When using the WPI Sim GUI, you will notice a readonly yaw and settable rawYawInput. The readonly signal is the emulated yaw which will match self-test in Tuner and the hardware API. Changes to rawYawInput will be integrated into the emulated yaw. This way a simulator can modify the yaw without overriding hardware API calls for home-ing the sensor.

Parameters:

deg - The yaw in degrees

Returns:

Status code

setPitch

public StatusCode setPitch(double deg)

Sets the simulated pitch of the Pigeon2.

Parameters:

deg - The pitch in degrees

Returns:

Status code

setRoll

public StatusCode setRoll(double deg)

Sets the simulated roll of the Pigeon2.

Parameters:

deg - The roll in degrees

Returns:

Status code