Inherited by com.ctre.phoenix.sensors.Pigeon2, and com.ctre.phoenix.sensors.PigeonIMU.

Public Member Functions
	BasePigeon (int deviceNumber, String version, String canbus)

	BasePigeon (int deviceNumber, String version)

ErrorCode	DestroyObject ()

BasePigeonSimCollection	getSimCollection ()

ErrorCode	setYaw (double angleDeg, int timeoutMs)

ErrorCode	setYaw (double angleDeg)

ErrorCode	addYaw (double angleDeg, int timeoutMs)

ErrorCode	addYaw (double angleDeg)

ErrorCode	setYawToCompass (int timeoutMs)

ErrorCode	setYawToCompass ()

ErrorCode	setAccumZAngle (double angleDeg, int timeoutMs)

ErrorCode	setAccumZAngle (double angleDeg)

ErrorCode	getLastError ()

ErrorCode	get6dQuaternion (double[] wxyz)

ErrorCode	getYawPitchRoll (double[] ypr_deg)

double	getYaw ()

double	getPitch ()

double	getRoll ()

ErrorCode	getAccumGyro (double[] xyz_deg)

double	getAbsoluteCompassHeading ()

double	getCompassHeading ()

double	getCompassFieldStrength ()

double	getTemp ()

int	getUpTime ()

ErrorCode	getRawMagnetometer (short[] rm_xyz)

ErrorCode	getBiasedMagnetometer (short[] bm_xyz)

ErrorCode	getBiasedAccelerometer (short[] ba_xyz)

ErrorCode	getRawGyro (double[] xyz_dps)

int	getResetCount ()

int	getResetFlags ()

int	getFirmwareVersion ()

boolean	hasResetOccurred ()

ErrorCode	configSetCustomParam (int newValue, int paramIndex, int timeoutMs)

ErrorCode	configSetCustomParam (int newValue, int paramIndex)

int	configGetCustomParam (int paramIndex, int timoutMs)

int	configGetCustomParam (int paramIndex)

ErrorCode	configSetParameter (ParamEnum param, double value, int subValue, int ordinal, int timeoutMs)

ErrorCode	configSetParameter (ParamEnum param, double value, int subValue, int ordinal)

ErrorCode	configSetParameter (int param, double value, int subValue, int ordinal, int timeoutMs)

ErrorCode	configSetParameter (int param, double value, int subValue, int ordinal)

double	configGetParameter (ParamEnum param, int ordinal, int timeoutMs)

double	configGetParameter (ParamEnum param, int ordinal)

double	configGetParameter (int param, int ordinal, int timeoutMs)

double	configGetParameter (int param, int ordinal)

ErrorCode	setStatusFramePeriod (PigeonIMU_StatusFrame statusFrame, int periodMs, int timeoutMs)

ErrorCode	setStatusFramePeriod (PigeonIMU_StatusFrame statusFrame, int periodMs)

ErrorCode	setStatusFramePeriod (int statusFrame, int periodMs, int timeoutMs)

ErrorCode	setStatusFramePeriod (int statusFrame, int periodMs)

int	getStatusFramePeriod (PigeonIMU_StatusFrame frame, int timeoutMs)

int	getStatusFramePeriod (PigeonIMU_StatusFrame frame)

ErrorCode	setControlFramePeriod (PigeonIMU_ControlFrame frame, int periodMs)

ErrorCode	setControlFramePeriod (int frame, int periodMs)

ErrorCode	clearStickyFaults (int timeoutMs)

ErrorCode	clearStickyFaults ()

int	getDeviceID ()

ErrorCode	configAllSettings (PigeonIMUConfiguration allConfigs, int timeoutMs)

ErrorCode	configAllSettings (PigeonIMUConfiguration allConfigs)

void	getAllConfigs (PigeonIMUConfiguration allConfigs, int timeoutMs)

void	getAllConfigs (PigeonIMUConfiguration allConfigs)

ErrorCode	configFactoryDefault (int timeoutMs)

ErrorCode	configFactoryDefault ()

long	getHandle ()

Protected Member Functions
	BasePigeon (long handle)

Detailed Description

Pigeon IMU Class. Class supports communicating over CANbus and over ribbon-cable (CAN Talon SRX).

Constructor & Destructor Documentation

◆ BasePigeon() [1/2]

com.ctre.phoenix.sensors.BasePigeon.BasePigeon	(	int	deviceNumber,
		String	version,
		String	canbus
	)

inline

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

Parameters

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

◆ BasePigeon() [2/2]

com.ctre.phoenix.sensors.BasePigeon.BasePigeon	(	int	deviceNumber,
		String	version
	)

inline

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

Parameters

deviceNumber	CAN Device Id of Pigeon [0,62]
version	Version of the PigeonIMU

Member Function Documentation

◆ addYaw() [1/2]

ErrorCode com.ctre.phoenix.sensors.BasePigeon.addYaw ( double angleDeg )

inline

Atomically add to the Yaw register.

Parameters

angleDeg Degrees to add to the Yaw register.

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

◆ addYaw() [2/2]

ErrorCode com.ctre.phoenix.sensors.BasePigeon.addYaw	(	double	angleDeg,
		int	timeoutMs
	)

inline

Atomically add to the Yaw register.

Parameters

angleDeg	Degrees to add to the Yaw register.
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.

◆ clearStickyFaults() [1/2]

ErrorCode com.ctre.phoenix.sensors.BasePigeon.clearStickyFaults ( )

inline

Clears the Sticky Faults

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

◆ clearStickyFaults() [2/2]

ErrorCode com.ctre.phoenix.sensors.BasePigeon.clearStickyFaults ( int timeoutMs )

inline

Clears the Sticky Faults

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

◆ configAllSettings() [1/2]

ErrorCode com.ctre.phoenix.sensors.BasePigeon.configAllSettings ( PigeonIMUConfiguration allConfigs )

inline

Configures all persistent settings (overloaded so timeoutMs is 50 ms).

Parameters

allConfigs Object with all of the persistant settings

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

Reimplemented in com.ctre.phoenix.sensors.PigeonIMU.

◆ configAllSettings() [2/2]

ErrorCode com.ctre.phoenix.sensors.BasePigeon.configAllSettings	(	PigeonIMUConfiguration	allConfigs,
		int	timeoutMs
	)

inline

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.

Reimplemented in com.ctre.phoenix.sensors.PigeonIMU.

◆ configFactoryDefault() [1/2]

ErrorCode com.ctre.phoenix.sensors.BasePigeon.configFactoryDefault ( )

inline

Configures all persistent settings to defaults (overloaded so timeoutMs is 50 ms).

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

Reimplemented in com.ctre.phoenix.sensors.PigeonIMU.

◆ configFactoryDefault() [2/2]

ErrorCode com.ctre.phoenix.sensors.BasePigeon.configFactoryDefault ( int timeoutMs )

inline

Configures all persistent settings to defaults.

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

Reimplemented in com.ctre.phoenix.sensors.PigeonIMU.

◆ configGetCustomParam() [1/2]

int com.ctre.phoenix.sensors.BasePigeon.configGetCustomParam ( int paramIndex )

inline

Gets the value of a custom parameter. This is for arbitrary use.

Sometimes it is necessary to save calibration/declination/offset information in the device. Particularly if the device is part of a subsystem that can be replaced.

Parameters

paramIndex Index of custom parameter. [0-1]

Returns: Value of the custom param.

◆ configGetCustomParam() [2/2]

int com.ctre.phoenix.sensors.BasePigeon.configGetCustomParam	(	int	paramIndex,
		int	timoutMs
	)

inline

Gets the value of a custom parameter. This is for arbitrary use.

Sometimes it is necessary to save calibration/declination/offset information in the device. Particularly if the device is part of a subsystem that can be replaced.

Parameters

paramIndex	Index of custom parameter. [0-1]
timoutMs	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: Value of the custom param.

◆ configGetParameter() [1/4]

double com.ctre.phoenix.sensors.BasePigeon.configGetParameter	(	int	param,
		int	ordinal
	)

inline

Gets a parameter.

Parameters

param	Parameter enumeration.
ordinal	Ordinal of parameter.

Returns: Value of parameter.

◆ configGetParameter() [2/4]

double com.ctre.phoenix.sensors.BasePigeon.configGetParameter	(	int	param,
		int	ordinal,
		int	timeoutMs
	)

inline

Gets a parameter.

Parameters

param	Parameter enumeration.
ordinal	Ordinal of parameter.
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: Value of parameter.

◆ configGetParameter() [3/4]

double com.ctre.phoenix.sensors.BasePigeon.configGetParameter	(	ParamEnum	param,
		int	ordinal
	)

inline

Gets a parameter. Generally this is not used. This can be utilized in

Using new features without updating API installation.
Errata workarounds to circumvent API implementation.
Allows for rapid testing / unit testing of firmware.

Parameters

param	Parameter enumeration.
ordinal	Ordinal of parameter.

Returns: Value of parameter.

◆ configGetParameter() [4/4]

double com.ctre.phoenix.sensors.BasePigeon.configGetParameter	(	ParamEnum	param,
		int	ordinal,
		int	timeoutMs
	)

inline

Gets a parameter. Generally this is not used. This can be utilized in

Using new features without updating API installation.
Errata workarounds to circumvent API implementation.
Allows for rapid testing / unit testing of firmware.

Parameters

param	Parameter enumeration.
ordinal	Ordinal of parameter.
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: Value of parameter.

◆ configSetCustomParam() [1/2]

ErrorCode com.ctre.phoenix.sensors.BasePigeon.configSetCustomParam	(	int	newValue,
		int	paramIndex
	)

inline

Sets the value of a custom parameter. This is for arbitrary use.

Sometimes it is necessary to save calibration/declination/offset information in the device. Particularly if the device is part of a subsystem that can be replaced.

Parameters

newValue	Value for custom parameter.
paramIndex	Index of custom parameter. [0-1]

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

◆ configSetCustomParam() [2/2]

ErrorCode com.ctre.phoenix.sensors.BasePigeon.configSetCustomParam	(	int	newValue,
		int	paramIndex,
		int	timeoutMs
	)

inline

Sets the value of a custom parameter. This is for arbitrary use.

Sometimes it is necessary to save calibration/declination/offset information in the device. Particularly if the device is part of a subsystem that can be replaced.

Parameters

newValue	Value for custom parameter.
paramIndex	Index of custom parameter. [0-1]
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.

◆ configSetParameter() [1/4]

ErrorCode com.ctre.phoenix.sensors.BasePigeon.configSetParameter	(	int	param,
		double	value,
		int	subValue,
		int	ordinal
	)

inline

Sets a parameter. Generally this is not used. This can be utilized in

Using new features without updating API installation.
Errata workarounds to circumvent API implementation.
Allows for rapid testing / unit testing of firmware.

Parameters

param	Parameter enumeration.
value	Value of parameter.
subValue	Subvalue for parameter. Maximum value of 255.
ordinal	Ordinal of parameter.

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

◆ configSetParameter() [2/4]

ErrorCode com.ctre.phoenix.sensors.BasePigeon.configSetParameter	(	int	param,
		double	value,
		int	subValue,
		int	ordinal,
		int	timeoutMs
	)

inline

Sets a parameter. Generally this is not used. This can be utilized in

Using new features without updating API installation.
Errata workarounds to circumvent API implementation.
Allows for rapid testing / unit testing of firmware.

Parameters

param	Parameter enumeration.
value	Value of parameter.
subValue	Subvalue for parameter. Maximum value of 255.
ordinal	Ordinal of parameter.
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.

◆ configSetParameter() [3/4]

ErrorCode com.ctre.phoenix.sensors.BasePigeon.configSetParameter	(	ParamEnum	param,
		double	value,
		int	subValue,
		int	ordinal
	)

inline

Sets a parameter. Generally this is not used. This can be utilized in

Using new features without updating API installation.
Errata workarounds to circumvent API implementation.
Allows for rapid testing / unit testing of firmware.

Parameters

param	Parameter enumeration.
value	Value of parameter.
subValue	Subvalue for parameter. Maximum value of 255.
ordinal	Ordinal of parameter.

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

◆ configSetParameter() [4/4]

ErrorCode com.ctre.phoenix.sensors.BasePigeon.configSetParameter	(	ParamEnum	param,
		double	value,
		int	subValue,
		int	ordinal,
		int	timeoutMs
	)

inline

Sets a parameter. Generally this is not used. This can be utilized in

Using new features without updating API installation.
Errata workarounds to circumvent API implementation.
Allows for rapid testing / unit testing of firmware.

Parameters

param	Parameter enumeration.
value	Value of parameter.
subValue	Subvalue for parameter. Maximum value of 255.
ordinal	Ordinal of parameter.
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.

◆ DestroyObject()

ErrorCode com.ctre.phoenix.sensors.BasePigeon.DestroyObject ( )

inline

Destructor for Pigeon

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

◆ get6dQuaternion()

ErrorCode com.ctre.phoenix.sensors.BasePigeon.get6dQuaternion ( double[] wxyz )

inline

Get 6d Quaternion data.

Parameters

wxyz	Array to fill with quaternion data w[0], x[1], y[2], z[3]

Returns: The last ErrorCode generated.

◆ getAbsoluteCompassHeading()

double com.ctre.phoenix.sensors.BasePigeon.getAbsoluteCompassHeading ( )

inline

Get the absolute compass heading.

Returns: compass heading [0,360) degrees.

◆ getAccumGyro()

ErrorCode com.ctre.phoenix.sensors.BasePigeon.getAccumGyro ( double[] xyz_deg )

inline

Get AccumGyro data. AccumGyro is the integrated gyro value on each axis.

Parameters

xyz_deg Array to fill with x[0], y[1], and z[2] AccumGyro data

Returns: The last ErrorCode generated.

◆ getAllConfigs() [1/2]

void com.ctre.phoenix.sensors.BasePigeon.getAllConfigs ( PigeonIMUConfiguration allConfigs )

inline

Gets all persistant settings (overloaded so timeoutMs is 50 ms).

Parameters

allConfigs Object with all of the persistant settings

Reimplemented in com.ctre.phoenix.sensors.PigeonIMU.

◆ getAllConfigs() [2/2]

void com.ctre.phoenix.sensors.BasePigeon.getAllConfigs	(	PigeonIMUConfiguration	allConfigs,
		int	timeoutMs
	)

inline

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.

Reimplemented in com.ctre.phoenix.sensors.PigeonIMU.

◆ getBiasedAccelerometer()

ErrorCode com.ctre.phoenix.sensors.BasePigeon.getBiasedAccelerometer ( short[] ba_xyz )

inline

Get Biased Accelerometer data.

Parameters

ba_xyz Array to fill with x[0], y[1], and z[2] data. These are in fixed point notation Q2.14. eg. 16384 = 1G

Returns: The last ErrorCode generated.

◆ getBiasedMagnetometer()

ErrorCode com.ctre.phoenix.sensors.BasePigeon.getBiasedMagnetometer ( short[] bm_xyz )

inline

Get Biased Magnetometer data.

Parameters

bm_xyz Array to fill with x[0], y[1], and z[2] data Number is equal to 0.6 microTeslas per unit.

Returns: The last ErrorCode generated.

◆ getCompassFieldStrength()

double com.ctre.phoenix.sensors.BasePigeon.getCompassFieldStrength ( )

inline

Gets the compass' measured magnetic field strength.

Returns: field strength in Microteslas (uT).

◆ getCompassHeading()

double com.ctre.phoenix.sensors.BasePigeon.getCompassHeading ( )

inline

Get the continuous compass heading.

Returns: continuous compass heading [-23040, 23040) degrees. Use SetCompassHeading to modify the wrap-around portion.

◆ getDeviceID()

int com.ctre.phoenix.sensors.BasePigeon.getDeviceID ( )

inline

Returns: The Device Number

◆ getFirmwareVersion()

int com.ctre.phoenix.sensors.BasePigeon.getFirmwareVersion ( )

inline

Gets the firmware version of the device.

Returns: param holds the firmware version of the device. Device must be powered cycled at least once.

◆ getLastError()

ErrorCode com.ctre.phoenix.sensors.BasePigeon.getLastError ( )

inline

Call GetLastError() generated by this object. Not all functions return an error code but can potentially report errors.

This function can be used to retrieve those error codes.

Returns: The last ErrorCode generated.

◆ getPitch()

double com.ctre.phoenix.sensors.BasePigeon.getPitch ( )

inline

Get the pitch from the Pigeon

Returns: Pitch

◆ getRawGyro()

ErrorCode com.ctre.phoenix.sensors.BasePigeon.getRawGyro ( double[] xyz_dps )

inline

Get Raw Gyro data.

Parameters

xyz_dps Array to fill with x[0], y[1], and z[2] data in degrees per second.

Returns: The last ErrorCode generated.

◆ getRawMagnetometer()

ErrorCode com.ctre.phoenix.sensors.BasePigeon.getRawMagnetometer ( short[] rm_xyz )

inline

Get Raw Magnetometer data.

Parameters

rm_xyz Array to fill with x[0], y[1], and z[2] data Number is equal to 0.6 microTeslas per unit.

Returns: The last ErrorCode generated.

◆ getResetCount()

int com.ctre.phoenix.sensors.BasePigeon.getResetCount ( )

inline

Returns: number of times Pigeon Reset

◆ getResetFlags()

int com.ctre.phoenix.sensors.BasePigeon.getResetFlags ( )

inline

Returns: Reset flags for Pigeon

◆ getRoll()

double com.ctre.phoenix.sensors.BasePigeon.getRoll ( )

inline

Get the roll from the Pigeon

Returns: Roll

◆ getSimCollection()

BasePigeonSimCollection com.ctre.phoenix.sensors.BasePigeon.getSimCollection ( )

inline

Returns: object that can set simulation inputs.

◆ getStatusFramePeriod() [1/2]

int com.ctre.phoenix.sensors.BasePigeon.getStatusFramePeriod ( PigeonIMU_StatusFrame frame )

inline

Gets the period of the given status frame.

Parameters

frame Frame to get the period of.

Returns: Period of the given status frame.

◆ getStatusFramePeriod() [2/2]

int com.ctre.phoenix.sensors.BasePigeon.getStatusFramePeriod	(	PigeonIMU_StatusFrame	frame,
		int	timeoutMs
	)

inline

Gets the period of the given status frame.

Parameters

frame	Frame to get the period of.
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: Period of the given status frame.

◆ getTemp()

double com.ctre.phoenix.sensors.BasePigeon.getTemp ( )

inline

Gets the temperature of the pigeon.

Returns: Temperature in ('C)

◆ getUpTime()

int com.ctre.phoenix.sensors.BasePigeon.getUpTime ( )

inline

Gets the current Pigeon uptime.

Returns: How long has Pigeon been running in whole seconds. Value caps at 255.

◆ getYaw()

double com.ctre.phoenix.sensors.BasePigeon.getYaw ( )

inline

Get the yaw from the Pigeon

Returns: Yaw

◆ getYawPitchRoll()

ErrorCode com.ctre.phoenix.sensors.BasePigeon.getYawPitchRoll ( double[] ypr_deg )

inline

Get Yaw, Pitch, and Roll data.

Parameters

ypr_deg Array to fill with yaw[0], pitch[1], and roll[2] data. Yaw is within [-368,640, +368,640] degrees. Pitch is within [-90,+90] degrees. Roll is within [-90,+90] degrees.

Returns: The last ErrorCode generated.

◆ hasResetOccurred()

boolean com.ctre.phoenix.sensors.BasePigeon.hasResetOccurred ( )

inline

Returns: true iff a reset has occurred since last call.

◆ setAccumZAngle() [1/2]

ErrorCode com.ctre.phoenix.sensors.BasePigeon.setAccumZAngle ( double angleDeg )

inline

Sets the AccumZAngle.

Parameters

angleDeg Degrees to set AccumZAngle to.

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

◆ setAccumZAngle() [2/2]

ErrorCode com.ctre.phoenix.sensors.BasePigeon.setAccumZAngle	(	double	angleDeg,
		int	timeoutMs
	)

inline

Sets the AccumZAngle.

Parameters

angleDeg	Degrees to set AccumZAngle to.
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.

◆ setControlFramePeriod() [1/2]

ErrorCode com.ctre.phoenix.sensors.BasePigeon.setControlFramePeriod	(	int	frame,
		int	periodMs
	)

inline

Sets the period of the given control frame.

Parameters

frame	Frame whose period is to be changed.
periodMs	Period in ms for the given frame.

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

◆ setControlFramePeriod() [2/2]

ErrorCode com.ctre.phoenix.sensors.BasePigeon.setControlFramePeriod	(	PigeonIMU_ControlFrame	frame,
		int	periodMs
	)

inline

Sets the period of the given control frame.

Parameters

frame	Frame whose period is to be changed.
periodMs	Period in ms for the given frame.

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

◆ setStatusFramePeriod() [1/4]

ErrorCode com.ctre.phoenix.sensors.BasePigeon.setStatusFramePeriod	(	int	statusFrame,
		int	periodMs
	)

inline

Sets the period of the given status frame.

Parameters

statusFrame	Frame whose period is to be changed.
periodMs	Period in ms for the given frame.

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

◆ setStatusFramePeriod() [2/4]

ErrorCode com.ctre.phoenix.sensors.BasePigeon.setStatusFramePeriod	(	int	statusFrame,
		int	periodMs,
		int	timeoutMs
	)

inline

Sets the period of the given status frame.

Parameters

statusFrame	Frame whose period is to be changed.
periodMs	Period in ms for the given frame.
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.

◆ setStatusFramePeriod() [3/4]

ErrorCode com.ctre.phoenix.sensors.BasePigeon.setStatusFramePeriod	(	PigeonIMU_StatusFrame	statusFrame,
		int	periodMs
	)

inline

Sets the period of the given status frame.

Parameters

statusFrame	Frame whose period is to be changed.
periodMs	Period in ms for the given frame.

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

◆ setStatusFramePeriod() [4/4]

ErrorCode com.ctre.phoenix.sensors.BasePigeon.setStatusFramePeriod	(	PigeonIMU_StatusFrame	statusFrame,
		int	periodMs,
		int	timeoutMs
	)

inline

Sets the period of the given status frame.

Parameters

statusFrame	Frame whose period is to be changed.
periodMs	Period in ms for the given frame.
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.

◆ setYaw() [1/2]

ErrorCode com.ctre.phoenix.sensors.BasePigeon.setYaw ( double angleDeg )

inline

Sets the Yaw register to the specified value.

Parameters

angleDeg New yaw in degrees [+/- 368,640 degrees]

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

◆ setYaw() [2/2]

ErrorCode com.ctre.phoenix.sensors.BasePigeon.setYaw	(	double	angleDeg,
		int	timeoutMs
	)

inline

Sets the Yaw register to the specified value.

Parameters

angleDeg	New yaw in degrees [+/- 368,640 degrees]
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.

◆ setYawToCompass() [1/2]

ErrorCode com.ctre.phoenix.sensors.BasePigeon.setYawToCompass ( )

inline

Sets the Yaw register to match the current compass value.

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

◆ setYawToCompass() [2/2]

ErrorCode com.ctre.phoenix.sensors.BasePigeon.setYawToCompass ( int timeoutMs )

inline

Sets the Yaw register to match the current compass value.

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

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

Phoenix-api/java/src/main/java/com/ctre/phoenix/sensors/BasePigeon.java

Public Member Functions

Protected Member Functions

Detailed Description

Constructor & Destructor Documentation

◆ BasePigeon() [1/2]

◆ BasePigeon() [2/2]

Member Function Documentation

◆ addYaw() [1/2]

◆ addYaw() [2/2]

◆ clearStickyFaults() [1/2]

◆ clearStickyFaults() [2/2]

◆ configAllSettings() [1/2]

◆ configAllSettings() [2/2]

◆ configFactoryDefault() [1/2]

◆ configFactoryDefault() [2/2]

◆ configGetCustomParam() [1/2]

◆ configGetCustomParam() [2/2]

◆ configGetParameter() [1/4]

◆ configGetParameter() [2/4]

◆ configGetParameter() [3/4]

◆ configGetParameter() [4/4]

◆ configSetCustomParam() [1/2]

◆ configSetCustomParam() [2/2]

◆ configSetParameter() [1/4]

◆ configSetParameter() [2/4]

◆ configSetParameter() [3/4]

◆ configSetParameter() [4/4]

◆ DestroyObject()

◆ get6dQuaternion()

◆ getAbsoluteCompassHeading()

◆ getAccumGyro()

◆ getAllConfigs() [1/2]

◆ getAllConfigs() [2/2]

◆ getBiasedAccelerometer()

◆ getBiasedMagnetometer()

◆ getCompassFieldStrength()

◆ getCompassHeading()

◆ getDeviceID()

◆ getFirmwareVersion()

◆ getLastError()

◆ getPitch()

◆ getRawGyro()

◆ getRawMagnetometer()

◆ getResetCount()

◆ getResetFlags()

◆ getRoll()

◆ getSimCollection()

◆ getStatusFramePeriod() [1/2]

◆ getStatusFramePeriod() [2/2]

◆ getTemp()

◆ getUpTime()

◆ getYaw()

◆ getYawPitchRoll()

◆ hasResetOccurred()

◆ setAccumZAngle() [1/2]

◆ setAccumZAngle() [2/2]

◆ setControlFramePeriod() [1/2]

◆ setControlFramePeriod() [2/2]

◆ setStatusFramePeriod() [1/4]

◆ setStatusFramePeriod() [2/4]

◆ setStatusFramePeriod() [3/4]

◆ setStatusFramePeriod() [4/4]

◆ setYaw() [1/2]

◆ setYaw() [2/2]

◆ setYawToCompass() [1/2]

◆ setYawToCompass() [2/2]