CTRE_Phoenix 5.20.2
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#include <PigeonIMU.h>
Public Attributes | |
PigeonIMU::PigeonState | state |
PigeonIMU::CalibrationMode | currentMode |
int | calibrationError |
bool | bCalIsBooting |
std::string | description |
double | tempC |
int | upTimeSec |
int | noMotionBiasCount |
int | tempCompensationCount |
int | lastError |
Data object for status on current calibration and general status.
Pigeon has many calibration modes supported for a variety of uses. The modes generally collects and saves persistently information that makes the Pigeon signals more accurate. This includes collecting temperature, gyro, accelerometer, and compass information.
For FRC use-cases, typically compass and temperature calibration is not required.
Additionally when motion driver software in the Pigeon boots, it will perform a fast boot calibration to initially bias gyro and setup accelerometer.
These modes can be enabled with the EnterCalibration mode.
When a calibration mode is entered, caller can expect...
bool ctre::phoenix::sensors::PigeonIMU::GeneralStatus::bCalIsBooting |
After caller requests a calibration mode, pigeon will perform a boot-cal before entering the requested mode. During this period, this flag is set to true.
int ctre::phoenix::sensors::PigeonIMU::GeneralStatus::calibrationError |
The error code for the last calibration mode. Zero represents a successful cal (with solid green LEDs at end of cal) and nonzero is a failed calibration (with solid red LEDs at end of cal). Different calibration
PigeonIMU::CalibrationMode ctre::phoenix::sensors::PigeonIMU::GeneralStatus::currentMode |
The currently applied calibration mode if state is in UserCalibration or if bCalIsBooting is true. Otherwise it holds the last selected calibration mode (when calibrationError was updated).
std::string ctre::phoenix::sensors::PigeonIMU::GeneralStatus::description |
general string description of current status
int ctre::phoenix::sensors::PigeonIMU::GeneralStatus::lastError |
Same as GetLastError()
int ctre::phoenix::sensors::PigeonIMU::GeneralStatus::noMotionBiasCount |
Number of times the Pigeon has automatically rebiased the gyro. This counter overflows from 15 -> 0 with no cap.
PigeonIMU::PigeonState ctre::phoenix::sensors::PigeonIMU::GeneralStatus::state |
The current state of the motion driver. This reflects if the sensor signals are accurate. Most calibration modes will force Pigeon to reinit the motion driver.
double ctre::phoenix::sensors::PigeonIMU::GeneralStatus::tempC |
Temperature in Celsius
int ctre::phoenix::sensors::PigeonIMU::GeneralStatus::tempCompensationCount |
Number of times the Pigeon has temperature compensated the various signals. This counter overflows from 15 -> 0 with no cap.
int ctre::phoenix::sensors::PigeonIMU::GeneralStatus::upTimeSec |
Number of seconds Pigeon has been up (since boot). This register is reset on power boot or processor reset. Register is capped at 255 seconds with no wrap around.