com.ctre.phoenix.sensors.BasePigeonSimCollection Class Reference

Public Member Functions
	BasePigeonSimCollection (BasePigeon pigeon, boolean isRibbonCable)
ErrorCode	setRawHeading (double newHeading)
ErrorCode	addHeading (double dHeading)

Member Function Documentation

addHeading()

ErrorCode com.ctre.phoenix.sensors.BasePigeonSimCollection.addHeading ( double  dHeading )

inline

Adds to the simulated heading of the Pigeon IMU

Parameters

dHeading

the change in heading in degrees

Returns

error code

setRawHeading()

ErrorCode com.ctre.phoenix.sensors.BasePigeonSimCollection.setRawHeading ( double  newHeading )

inline

Sets the simulated input heading position of the Pigeon IMU.

The Pigeon IMU integrates the delta between each new raw heading value and uses this to calculate the true reported yaw and fused heading.

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

Inputs to this function over time should be continuous, as user calls of setYaw() or setFusedHeading() will be accounted for in the calculation.

Parameters

newHeading

the new input heading in degrees

Returns

error code

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

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