#include <Pigeon2.h>

Inherits ctre::phoenix::sensors::BasePigeon.

Inherited by ctre::phoenix::sensors::WPI_Pigeon2.

Public Member Functions
	Pigeon2 (int deviceNumber, std::string const &canbus="")

ErrorCode	GetFaults (Pigeon2_Faults &toFill)

ErrorCode	GetStickyFaults (Pigeon2_StickyFaults &toFill)

ErrorCode	ConfigMountPose (double yaw, double pitch, double roll, int timeoutMs=0)

ErrorCode	ConfigMountPoseYaw (double yaw, int timeoutMs=0)

ErrorCode	ConfigMountPosePitch (double pitch, int timeoutMs=0)

ErrorCode	ConfigMountPoseRoll (double roll, int timeoutMs=0)

ErrorCode	ConfigEnableCompass (bool enable, int timeoutMs=0)

ErrorCode	ConfigDisableTemperatureCompensation (bool disable, int timeoutMs=0)

ErrorCode	ConfigDisableNoMotionCalibration (bool disable, int timeoutMs=0)

ErrorCode	ZeroGyroBiasNow (int timeoutMs=0)

ErrorCode	GetGravityVector (double gravVector[3]) const

ErrorCode	ConfigAllSettings (Pigeon2Configuration &settings, int timeoutMs=50)

void	GetAllConfigs (Pigeon2Configuration &allConfigs, int timeoutMs=50)

Public Member Functions inherited from ctre::phoenix::sensors::BasePigeon
	BasePigeon (int deviceNumber, std::string const &version, std::string const &canbus="")

int	SetYaw (double angleDeg, int timeoutMs=0)

int	AddYaw (double angleDeg, int timeoutMs=0)

int	SetYawToCompass (int timeoutMs=0)

int	SetAccumZAngle (double angleDeg, int timeoutMs=0)

ErrorCode	GetLastError () const

ErrorCode	Get6dQuaternion (double wxyz[4]) const

ErrorCode	GetYawPitchRoll (double ypr[3]) const

double	GetYaw () const

double	GetPitch () const

double	GetRoll () const

int	GetAccumGyro (double xyz_deg[3]) const

double	GetAbsoluteCompassHeading () const

double	GetCompassHeading () const

double	GetCompassFieldStrength () const

double	GetTemp () const

uint32_t	GetUpTime () const

int	GetRawMagnetometer (int16_t rm_xyz[3]) const

int	GetBiasedMagnetometer (int16_t bm_xyz[3]) const

int	GetBiasedAccelerometer (int16_t ba_xyz[3]) const

int	GetRawGyro (double xyz_dps[3]) const

uint32_t	GetResetCount () const

uint32_t	GetResetFlags () const

uint32_t	GetFirmVers () const

bool	HasResetOccurred () const

ErrorCode	ConfigSetCustomParam (int newValue, int paramIndex, int timeoutMs=0)

int	ConfigGetCustomParam (int paramIndex, int timeoutMs=0)

ErrorCode	ConfigSetParameter (ParamEnum param, double value, uint8_t subValue, int ordinal, int timeoutMs=0)

double	ConfigGetParameter (ctre::phoenix::ParamEnum param, int ordinal, int timeoutMs=0)

ErrorCode	ConfigGetParameter (ParamEnum param, int32_t valueToSend, int32_t &valueReceived, uint8_t &subValue, int32_t ordinal, int32_t timeoutMs)

ErrorCode	SetStatusFramePeriod (PigeonIMU_StatusFrame statusFrame, uint8_t periodMs, int timeoutMs=0)

int	GetStatusFramePeriod (PigeonIMU_StatusFrame frame, int timeoutMs=0)

ErrorCode	SetControlFramePeriod (PigeonIMU_ControlFrame frame, int periodMs)

int	GetFirmwareVersion ()

ErrorCode	ClearStickyFaults (int timeoutMs=0)

void *	GetLowLevelHandle () const

virtual ctre::phoenix::ErrorCode	ConfigAllSettings (const BasePigeonConfiguration &allConfigs, int timeoutMs=50)

virtual void	GetAllConfigs (BasePigeonConfiguration &allConfigs, int timeoutMs=50)

virtual ErrorCode	ConfigFactoryDefault (int timeoutMs=50)

virtual BasePigeonSimCollection &	GetSimCollection ()

Public Member Functions inherited from ctre::phoenix::CANBusAddressable
	CANBusAddressable (int deviceNumber)

int	GetDeviceNumber ()

Additional Inherited Members
Static Public Member Functions inherited from ctre::phoenix::sensors::BasePigeon
static void	DestroyAllBasePigeons ()

Protected Member Functions inherited from ctre::phoenix::sensors::BasePigeon
	BasePigeon (ctre::phoenix::motorcontrol::can::TalonSRX &talonSrx)

Detailed Description

Pigeon 2 Class. Class supports communicating over CANbus.



// Example usage of a Pigeon 2

Pigeon2 pigeon{0}; // creates a new Pigeon2 with ID 0



Pigeon2Configuration config;

// set mount pose as rolled 90 degrees counter-clockwise

config.MountPoseYaw = 0;

config.MountPosePitch = 0;

config.MountPoseRoll = 90;

pigeon.ConfigAllSettings(config);



std::cout << pigeon.GetYaw() << std::endl; // prints the yaw of the Pigeon

std::cout << pigeon.GetPitch() << std::endl; // prints the pitch of the Pigeon

std::cout << pigeon.GetRoll() << std::endl; // prints the roll of the Pigeon



double gravityVec[3];

pigeon.GetGravityVector(gravityVec); // gets the gravity vector of the Pigeon 2



ErrorCode error = pigeon.GetLastError(); // gets the last error generated by the Pigeon

Pigeon2_Faults faults;

ErrorCode faultsError = pigeon.GetFaults(faults); // fills faults with the current Pigeon 2 faults; returns the last error generated

Constructor & Destructor Documentation

◆ Pigeon2()

ctre::phoenix::sensors::Pigeon2::Pigeon2	(	int	deviceNumber,
		std::string const &	canbus = `""`
	)

Create a Pigeon object that communicates with Pigeon on CAN Bus.

Parameters

deviceNumber	CAN Device Id of Pigeon [0,62]
canbus	Name of the CANbus; can be a SocketCAN interface (on Linux), or a CANivore device name or serial number

Member Function Documentation

◆ ConfigAllSettings()

ErrorCode ctre::phoenix::sensors::Pigeon2::ConfigAllSettings	(	Pigeon2Configuration &	settings,
		int	timeoutMs = `50`
	)

Configures all persistent settings.

Parameters

allConfigs	Object with all of the persistant settings
timeoutMs	Timeout value in ms. If nonzero, function will wait for config success and report an error if it times out. If zero, no blocking or checking is performed.

Returns: Error Code generated by function. 0 indicates no error.

◆ ConfigDisableNoMotionCalibration()

ErrorCode ctre::phoenix::sensors::Pigeon2::ConfigDisableNoMotionCalibration	(	bool	disable,
		int	timeoutMs = `0`
	)

Disables the no-motion calibration from Pigeon2

Parameters

disable	Boolean to disable/enable no-motion calibration
timeoutMs	Timeout value in ms. If nonzero, function will wait for config success and report an error if it times out. If zero, no blocking or checking is performed.

Returns: ErrorCode Status of the config response

◆ ConfigDisableTemperatureCompensation()

ErrorCode ctre::phoenix::sensors::Pigeon2::ConfigDisableTemperatureCompensation	(	bool	disable,
		int	timeoutMs = `0`
	)

Disables temperature compensation from Pigeon2.

Parameters

disable	Boolean to disable/enable temperature compensation
timeoutMs	Timeout value in ms. If nonzero, function will wait for config success and report an error if it times out. If zero, no blocking or checking is performed.

Returns: ErrorCode Status of the config response

◆ ConfigEnableCompass()

ErrorCode ctre::phoenix::sensors::Pigeon2::ConfigEnableCompass	(	bool	enable,
		int	timeoutMs = `0`
	)

Enables the magnetometer fusion for Pigeon2. This is not recommended for FRC use

Parameters

enable	Boolean to enable/disable magnetometer fusion
timeoutMs	Timeout value in ms. If nonzero, function will wait for config success and report an error if it times out. If zero, no blocking or checking is performed.

Returns: ErrorCode Status of the config response

◆ ConfigMountPose()

ErrorCode ctre::phoenix::sensors::Pigeon2::ConfigMountPose	(	double	yaw,
		double	pitch,
		double	roll,
		int	timeoutMs = `0`
	)

Configure the mounting pose of the Pigeon2.

This is the Yaw-Pitch-Roll the Pigeon2 underwent to get to its current orientation, referenced from the robot's point of view.

This is only necessary if the Pigeon2 is mounted at an exotic angle near the gimbal lock point or not forward.

If the pigeon is relatively flat and pointed forward, this is not needed.

Examples:

If the Pigeon2 is pointed directly right, that corresponds to a -90 yaw, 0 pitch, and 0 roll, as it yaw'd 90 degrees clockwise.

If the Pigeon2 points upwards, that's a 0 yaw, -90 pitch, 0 roll, as it pitched 90 degrees clockwise.

Parameters

yaw	Yaw angle needed to reach the current orientation in degrees.
pitch	Pitch angle needed to reach the current orientation in degrees.
roll	Roll angle needed to reach the current orientation in degrees.
timeoutMs	Config timeout in milliseconds.

Returns: Worst error code of all config sets.

◆ ConfigMountPosePitch()

ErrorCode ctre::phoenix::sensors::Pigeon2::ConfigMountPosePitch	(	double	pitch,
		int	timeoutMs = `0`
	)

Configure the mounting pose Pitch of the Pigeon2. See configMountPose(double, double, double, int)

Parameters

pitch	Pitch angle needed to reach the current orientation in degrees.
timeoutMs	Config timeout in milliseconds.

Returns: ErrorCode of configSet

◆ ConfigMountPoseRoll()

ErrorCode ctre::phoenix::sensors::Pigeon2::ConfigMountPoseRoll	(	double	roll,
		int	timeoutMs = `0`
	)

Configure the mounting pose Roll of the Pigeon2. See configMountPose(double, double, double, int)

Parameters

roll	Roll angle needed to reach the current orientation in degrees.
timeoutMs	Config timeout in milliseconds.

Returns: ErrorCode of configSet

◆ ConfigMountPoseYaw()

ErrorCode ctre::phoenix::sensors::Pigeon2::ConfigMountPoseYaw	(	double	yaw,
		int	timeoutMs = `0`
	)

Configure the mounting pose Yaw of the Pigeon2. See configMountPose(double, double, double, int)

Parameters

yaw	Yaw angle needed to reach the current orientation in degrees.
timeoutMs	Config timeout in milliseconds.

Returns: ErrorCode of configSet

◆ GetAllConfigs()

void ctre::phoenix::sensors::Pigeon2::GetAllConfigs	(	Pigeon2Configuration &	allConfigs,
		int	timeoutMs = `50`
	)

Gets all persistant settings.

Parameters

allConfigs	Object with all of the persistant settings
timeoutMs	Timeout value in ms. If nonzero, function will wait for config success and report an error if it times out. If zero, no blocking or checking is performed.

◆ GetFaults()

ErrorCode ctre::phoenix::sensors::Pigeon2::GetFaults ( Pigeon2_Faults & toFill )

Gets the fault status

Parameters

toFill Container for fault statuses.

Returns: Error Code generated by function. 0 indicates no error.

◆ GetGravityVector()

ErrorCode ctre::phoenix::sensors::Pigeon2::GetGravityVector ( double gravVector[3] ) const

Get the Gravity Vector.

This provides a vector that points toward ground. This is useful for applications like an arm, where the z-value of the gravity vector corresponds to the feed-forward needed to hold the arm steady. The gravity vector is calculated after the mount pose, so if the pigeon is where it was mounted, the gravity vector is {0, 0, 1}.

Parameters

gravVector Pass in a double array of size 3 to get the gravity vector

Returns: Errorcode of getter

◆ GetStickyFaults()

ErrorCode ctre::phoenix::sensors::Pigeon2::GetStickyFaults ( Pigeon2_StickyFaults & toFill )

Gets the sticky fault status

Parameters

toFill Container for sticky fault statuses.

Returns: Error Code generated by function. 0 indicates no error.

◆ ZeroGyroBiasNow()

ErrorCode ctre::phoenix::sensors::Pigeon2::ZeroGyroBiasNow ( int timeoutMs = 0 )

Performs an offset calibration on gyro bias

Parameters

timeoutMs Timeout value in ms. If nonzero, function will wait for config success and report an error if it times out. If zero, no blocking or checking is performed.

Returns: ErrorCode Status of the config response

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

Phoenix-api/cpp/src/main/native/include/ctre/phoenix/sensors/Pigeon2.h

Public Member Functions

Additional Inherited Members

Detailed Description

Constructor & Destructor Documentation

◆ Pigeon2()

Member Function Documentation

◆ ConfigAllSettings()

◆ ConfigDisableNoMotionCalibration()

◆ ConfigDisableTemperatureCompensation()

◆ ConfigEnableCompass()

◆ ConfigMountPose()

◆ ConfigMountPosePitch()

◆ ConfigMountPoseRoll()

◆ ConfigMountPoseYaw()

◆ GetAllConfigs()

◆ GetFaults()

◆ GetGravityVector()

◆ GetStickyFaults()

◆ ZeroGyroBiasNow()