Inherits com.ctre.phoenix.sensors.BasePigeon.

Inherited by com.ctre.phoenix.sensors.WPI_Pigeon2.

Public Member Functions
	Pigeon2 (int deviceNumber, String canbus)

	Pigeon2 (int deviceNumber)

ErrorCode	configMountPose (double yaw, double pitch, double roll, int timeoutMs)

ErrorCode	configMountPose (double yaw, double pitch, double roll)

ErrorCode	configMountPoseYaw (double yaw, int timeoutMs)

ErrorCode	configMountPoseYaw (double yaw)

ErrorCode	configMountPosePitch (double pitch, int timeoutMs)

ErrorCode	configMountPosePitch (double pitch)

ErrorCode	configMountPoseRoll (double roll, int timeoutMs)

ErrorCode	configMountPoseRoll (double roll)

ErrorCode	configEnableCompass (boolean enable, int timeoutMs)

ErrorCode	configEnableCompass (boolean enable)

ErrorCode	configDisableTemperatureCompensation (boolean disable, int timeoutMs)

ErrorCode	configDisableTemperatureCompensation (boolean disable)

ErrorCode	configDisableNoMotionCalibration (boolean disable, int timeoutMs)

ErrorCode	configDisableNoMotionCalibration (boolean disable)

ErrorCode	zeroGyroBiasNow (int timeoutMs)

ErrorCode	zeroGyroBiasNow ()

ErrorCode	configAllSettings (Pigeon2Configuration settings, int timeoutMs)

ErrorCode	configAllSettings (Pigeon2Configuration settings)

ErrorCode	getGravityVector (double[] gravVector)

ErrorCode	getFaults (Pigeon2_Faults toFill)

ErrorCode	getStickyFaults (Pigeon2_Faults toFill)

void	getAllConfigs (Pigeon2Configuration allConfigs, int timeoutMs)

void	getAllConfigs (Pigeon2Configuration allConfigs)

Public Member Functions inherited from com.ctre.phoenix.sensors.BasePigeon
	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 ()

Additional Inherited Members
Protected Member Functions inherited from com.ctre.phoenix.sensors.BasePigeon
	BasePigeon (long handle)

Detailed Description

Pigeon 2 Class. Class supports communicating over CANbus.



// Example usage of a Pigeon 2

Pigeon2 pigeon = new Pigeon2(0); // creates a new Pigeon2 with ID 0



Pigeon2Configuration config = new Pigeon2Configuration();

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

config.MountPoseYaw = 0;

config.MountPosePitch = 0;

config.MountPoseRoll = 90;

pigeon.configAllSettings(config);



System.out.println(pigeon.getYaw()); // prints the yaw of the Pigeon

System.out.println(pigeon.getPitch()); // prints the pitch of the Pigeon

System.out.println(pigeon.getRoll()); // prints the roll of the Pigeon



double gravityVec[] = new double[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 = new Pigeon2_Faults();

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

Constructor & Destructor Documentation

◆ Pigeon2() [1/2]

com.ctre.phoenix.sensors.Pigeon2.Pigeon2	(	int	deviceNumber,
		String	canbus
	)

inline

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

◆ Pigeon2() [2/2]

com.ctre.phoenix.sensors.Pigeon2.Pigeon2 ( int deviceNumber )

inline

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

Parameters

deviceNumber CAN Device Id of Pigeon [0,62]

Member Function Documentation

◆ configAllSettings() [1/2]

ErrorCode com.ctre.phoenix.sensors.Pigeon2.configAllSettings ( Pigeon2Configuration settings )

inline

Configures all persistent settings.

Parameters

allConfigs Object with all of the persistant settings

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

◆ configAllSettings() [2/2]

ErrorCode com.ctre.phoenix.sensors.Pigeon2.configAllSettings	(	Pigeon2Configuration	settings,
		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.

◆ configDisableNoMotionCalibration() [1/2]

ErrorCode com.ctre.phoenix.sensors.Pigeon2.configDisableNoMotionCalibration ( boolean disable )

inline

Disables the no-motion calibration from Pigeon2

Parameters

disable Boolean to disable/enable no-motion calibration

Returns: ErrorCode Status of the config response

◆ configDisableNoMotionCalibration() [2/2]

ErrorCode com.ctre.phoenix.sensors.Pigeon2.configDisableNoMotionCalibration	(	boolean	disable,
		int	timeoutMs
	)

inline

Disables the no-motion calibration from Pigeon2

Parameters

disable	Boolean to disable/enable no-motion calibration
timeoutMs	Config timeout in milliseconds.

Returns: ErrorCode Status of the config response

◆ configDisableTemperatureCompensation() [1/2]

ErrorCode com.ctre.phoenix.sensors.Pigeon2.configDisableTemperatureCompensation ( boolean disable )

inline

Disables temperature compensation from Pigeon2.

Parameters

disable Boolean to disable/enable temperature compensation

Returns: ErrorCode Status of the config response

◆ configDisableTemperatureCompensation() [2/2]

ErrorCode com.ctre.phoenix.sensors.Pigeon2.configDisableTemperatureCompensation	(	boolean	disable,
		int	timeoutMs
	)

inline

Disables temperature compensation from Pigeon2.

Parameters

disable	Boolean to disable/enable temperature compensation
timeoutMs	Config timeout in milliseconds.

Returns: ErrorCode Status of the config response

◆ configEnableCompass() [1/2]

ErrorCode com.ctre.phoenix.sensors.Pigeon2.configEnableCompass ( boolean enable )

inline

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

Parameters

enable Boolean to enable/disable magnetometer fusion

Returns: ErrorCode Status of the config response

◆ configEnableCompass() [2/2]

ErrorCode com.ctre.phoenix.sensors.Pigeon2.configEnableCompass	(	boolean	enable,
		int	timeoutMs
	)

inline

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

Parameters

enable	Boolean to enable/disable magnetometer fusion
timeoutMs	Config timeout in milliseconds.

Returns: ErrorCode Status of the config response

◆ configMountPose() [1/2]

ErrorCode com.ctre.phoenix.sensors.Pigeon2.configMountPose	(	double	yaw,
		double	pitch,
		double	roll
	)

inline

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.

Returns: Worst error code of all config sets.

◆ configMountPose() [2/2]

ErrorCode com.ctre.phoenix.sensors.Pigeon2.configMountPose	(	double	yaw,
		double	pitch,
		double	roll,
		int	timeoutMs
	)

inline

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() [1/2]

ErrorCode com.ctre.phoenix.sensors.Pigeon2.configMountPosePitch ( double pitch )

inline

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

Parameters

pitch Pitch angle needed to reach the current orientation in degrees.

Returns: ErrorCode of configSet

◆ configMountPosePitch() [2/2]

ErrorCode com.ctre.phoenix.sensors.Pigeon2.configMountPosePitch	(	double	pitch,
		int	timeoutMs
	)

inline

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() [1/2]

ErrorCode com.ctre.phoenix.sensors.Pigeon2.configMountPoseRoll ( double roll )

inline

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

Parameters

roll	Roll angle needed to reach the current orientation in degrees.

Returns: ErrorCode of configSet

◆ configMountPoseRoll() [2/2]

ErrorCode com.ctre.phoenix.sensors.Pigeon2.configMountPoseRoll	(	double	roll,
		int	timeoutMs
	)

inline

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() [1/2]

ErrorCode com.ctre.phoenix.sensors.Pigeon2.configMountPoseYaw ( double yaw )

inline

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

Parameters

yaw	Yaw angle needed to reach the current orientation in degrees.

Returns: ErrorCode of configSet

◆ configMountPoseYaw() [2/2]

ErrorCode com.ctre.phoenix.sensors.Pigeon2.configMountPoseYaw	(	double	yaw,
		int	timeoutMs
	)

inline

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() [1/2]

void com.ctre.phoenix.sensors.Pigeon2.getAllConfigs ( Pigeon2Configuration allConfigs )

inline

Gets all persistant settings.

Parameters

allConfigs Object with all of the persistant settings

◆ getAllConfigs() [2/2]

void com.ctre.phoenix.sensors.Pigeon2.getAllConfigs	(	Pigeon2Configuration	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.

◆ getFaults()

ErrorCode com.ctre.phoenix.sensors.Pigeon2.getFaults ( Pigeon2_Faults toFill )

inline

Gets the fault status

Parameters

toFill Container for fault statuses.

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

◆ getGravityVector()

ErrorCode com.ctre.phoenix.sensors.Pigeon2.getGravityVector ( double[] gravVector )

inline

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 com.ctre.phoenix.sensors.Pigeon2.getStickyFaults ( Pigeon2_Faults toFill )

inline

Gets the sticky fault status

Parameters

toFill Container for sticky fault statuses.

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

◆ zeroGyroBiasNow() [1/2]

ErrorCode com.ctre.phoenix.sensors.Pigeon2.zeroGyroBiasNow ( )

inline

Performs an offset calibration on gyro bias

Returns: ErrorCode Status of the config response

◆ zeroGyroBiasNow() [2/2]

ErrorCode com.ctre.phoenix.sensors.Pigeon2.zeroGyroBiasNow ( int timeoutMs )

inline

Performs an offset calibration on gyro bias

Parameters

timeoutMs Config timeout in milliseconds.

Returns: ErrorCode Status of the config response

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

Phoenix-api/java/src/main/java/com/ctre/phoenix/sensors/Pigeon2.java

Public Member Functions

Additional Inherited Members

Detailed Description

Constructor & Destructor Documentation

◆ Pigeon2() [1/2]

◆ Pigeon2() [2/2]

Member Function Documentation

◆ configAllSettings() [1/2]

◆ configAllSettings() [2/2]

◆ configDisableNoMotionCalibration() [1/2]

◆ configDisableNoMotionCalibration() [2/2]

◆ configDisableTemperatureCompensation() [1/2]

◆ configDisableTemperatureCompensation() [2/2]

◆ configEnableCompass() [1/2]

◆ configEnableCompass() [2/2]

◆ configMountPose() [1/2]

◆ configMountPose() [2/2]

◆ configMountPosePitch() [1/2]

◆ configMountPosePitch() [2/2]

◆ configMountPoseRoll() [1/2]

◆ configMountPoseRoll() [2/2]

◆ configMountPoseYaw() [1/2]

◆ configMountPoseYaw() [2/2]

◆ getAllConfigs() [1/2]

◆ getAllConfigs() [2/2]

◆ getFaults()

◆ getGravityVector()

◆ getStickyFaults()

◆ zeroGyroBiasNow() [1/2]

◆ zeroGyroBiasNow() [2/2]