Inherits com.ctre.phoenix.sensors.BasePigeon.

Inherited by com.ctre.phoenix.sensors.WPI_PigeonIMU.

Classes
enum	CalibrationMode

class	FusionStatus

class	GeneralStatus

enum	PigeonState

Public Member Functions
	PigeonIMU (int deviceNumber)

	PigeonIMU (TalonSRX talonSrx)

ErrorCode	setFusedHeading (double angleDeg, int timeoutMs)

ErrorCode	setFusedHeading (double angleDeg)

ErrorCode	addFusedHeading (double angleDeg, int timeoutMs)

ErrorCode	addFusedHeading (double angleDeg)

ErrorCode	setFusedHeadingToCompass (int timeoutMs)

ErrorCode	setFusedHeadingToCompass ()

ErrorCode	setTemperatureCompensationDisable (boolean bTempCompDisable, int timeoutMs)

ErrorCode	setTemperatureCompensationDisable (boolean bTempCompDisable)

ErrorCode	setCompassDeclination (double angleDegOffset, int timeoutMs)

ErrorCode	setCompassDeclination (double angleDegOffset)

ErrorCode	setCompassAngle (double angleDeg, int timeoutMs)

ErrorCode	setCompassAngle (double angleDeg)

ErrorCode	enterCalibrationMode (CalibrationMode calMode, int timeoutMs)

ErrorCode	enterCalibrationMode (CalibrationMode calMode)

ErrorCode	getGeneralStatus (GeneralStatus toFill)

PigeonState	getState ()

double	getFusedHeading (FusionStatus toFill)

double	getFusedHeading ()

ErrorCode	getAccelerometerAngles (double[] tiltAngles)

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 ()

ErrorCode	getFaults (PigeonIMU_Faults toFill)

ErrorCode	getStickyFaults (PigeonIMU_Faults toFill)

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

Constructor & Destructor Documentation

◆ PigeonIMU() [1/2]

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

inline

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

Parameters

deviceNumber CAN Device Id of Pigeon [0,62]

◆ PigeonIMU() [2/2]

com.ctre.phoenix.sensors.PigeonIMU.PigeonIMU ( TalonSRX talonSrx )

inline

Create a Pigeon object that communciates with Pigeon through the Gadgeteer ribbon cable connected to a Talon on CAN Bus.

Parameters

talonSrx Object for the TalonSRX connected via ribbon cable.

Member Function Documentation

◆ addFusedHeading() [1/2]

ErrorCode com.ctre.phoenix.sensors.PigeonIMU.addFusedHeading ( double angleDeg )

inline

Atomically add to the Fused Heading register.

Parameters

angleDeg Degrees to add to the Fused Heading register

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

◆ addFusedHeading() [2/2]

ErrorCode com.ctre.phoenix.sensors.PigeonIMU.addFusedHeading	(	double	angleDeg,
		int	timeoutMs
	)

inline

Atomically add to the Fused Heading register.

Parameters

angleDeg	Degrees to add to the Fused Heading 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.

◆ configAllSettings() [1/2]

ErrorCode com.ctre.phoenix.sensors.PigeonIMU.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 from com.ctre.phoenix.sensors.BasePigeon.

◆ configAllSettings() [2/2]

ErrorCode com.ctre.phoenix.sensors.PigeonIMU.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 from com.ctre.phoenix.sensors.BasePigeon.

◆ configFactoryDefault() [1/2]

ErrorCode com.ctre.phoenix.sensors.PigeonIMU.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 from com.ctre.phoenix.sensors.BasePigeon.

◆ configFactoryDefault() [2/2]

ErrorCode com.ctre.phoenix.sensors.PigeonIMU.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 from com.ctre.phoenix.sensors.BasePigeon.

◆ enterCalibrationMode() [1/2]

ErrorCode com.ctre.phoenix.sensors.PigeonIMU.enterCalibrationMode ( CalibrationMode calMode )

inline

Enters the Calbration mode. See the Pigeon IMU documentation for More information on Calibration.

Note that you can instead use Phoenix Tuner to accomplish this. Note you should not be using this in your normal robot application.

Parameters

calMode Calibration to execute

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

◆ enterCalibrationMode() [2/2]

ErrorCode com.ctre.phoenix.sensors.PigeonIMU.enterCalibrationMode	(	CalibrationMode	calMode,
		int	timeoutMs
	)

inline

Enters the Calbration mode. See the Pigeon IMU documentation for More information on Calibration.

Note that you can instead use Phoenix Tuner to accomplish this. Note you should NOT be calling this during normal robot operation.

Parameters

calMode	Calibration to execute
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.

◆ getAccelerometerAngles()

ErrorCode com.ctre.phoenix.sensors.PigeonIMU.getAccelerometerAngles ( double[] tiltAngles )

inline

Get Accelerometer tilt angles.

Parameters

tiltAngles Array to fill with x[0], y[1], and z[2] angles in degrees.

Returns: The last ErrorCode generated.

◆ getAllConfigs() [1/2]

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

inline

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

Parameters

allConfigs Object with all of the persistant settings

Reimplemented from com.ctre.phoenix.sensors.BasePigeon.

◆ getAllConfigs() [2/2]

void com.ctre.phoenix.sensors.PigeonIMU.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 from com.ctre.phoenix.sensors.BasePigeon.

◆ getFaults()

ErrorCode com.ctre.phoenix.sensors.PigeonIMU.getFaults ( PigeonIMU_Faults toFill )

inline

Gets the fault status

Parameters

toFill Container for fault statuses.

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

◆ getFusedHeading() [1/2]

double com.ctre.phoenix.sensors.PigeonIMU.getFusedHeading ( )

inline

Gets the Fused Heading

Returns: The fused heading in degrees.

◆ getFusedHeading() [2/2]

double com.ctre.phoenix.sensors.PigeonIMU.getFusedHeading ( FusionStatus toFill )

inline

Get the current Fusion Status (including fused heading)

Parameters

toFill object reference to fill with fusion status flags. Caller may pass null if flags are not needed.

Returns: The fused heading in degrees.

◆ getGeneralStatus()

ErrorCode com.ctre.phoenix.sensors.PigeonIMU.getGeneralStatus ( GeneralStatus toFill )

inline

Get the status of the current (or previousley complete) calibration.

Parameters

toFill Container for the status information.

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

◆ getState()

PigeonState com.ctre.phoenix.sensors.PigeonIMU.getState ( )

inline

Gets the current Pigeon state

Returns: PigeonState enum

◆ getStickyFaults()

ErrorCode com.ctre.phoenix.sensors.PigeonIMU.getStickyFaults ( PigeonIMU_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.

◆ setCompassAngle() [1/2]

ErrorCode com.ctre.phoenix.sensors.PigeonIMU.setCompassAngle ( double angleDeg )

inline

Sets the compass angle. Although compass is absolute [0,360) degrees, the continuous compass register holds the wrap-arounds.

Parameters

angleDeg Degrees to set continuous compass angle to.

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

◆ setCompassAngle() [2/2]

ErrorCode com.ctre.phoenix.sensors.PigeonIMU.setCompassAngle	(	double	angleDeg,
		int	timeoutMs
	)

inline

Sets the compass angle. Although compass is absolute [0,360) degrees, the continuous compass register holds the wrap-arounds.

Parameters

angleDeg	Degrees to set continuous compass angle 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.

◆ setCompassDeclination() [1/2]

ErrorCode com.ctre.phoenix.sensors.PigeonIMU.setCompassDeclination ( double angleDegOffset )

inline

Set the declination for compass. Declination is the difference between Earth Magnetic north, and the geographic "True North".

Parameters

angleDegOffset Degrees to set Compass Declination to.

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

◆ setCompassDeclination() [2/2]

ErrorCode com.ctre.phoenix.sensors.PigeonIMU.setCompassDeclination	(	double	angleDegOffset,
		int	timeoutMs
	)

inline

Set the declination for compass. Declination is the difference between Earth Magnetic north, and the geographic "True North".

Parameters

angleDegOffset	Degrees to set Compass Declination 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.

◆ setFusedHeading() [1/2]

ErrorCode com.ctre.phoenix.sensors.PigeonIMU.setFusedHeading ( double angleDeg )

inline

Sets the Fused Heading to the specified value.

Parameters

angleDeg New fused-heading in degrees [+/- 23,040 degrees]

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

◆ setFusedHeading() [2/2]

ErrorCode com.ctre.phoenix.sensors.PigeonIMU.setFusedHeading	(	double	angleDeg,
		int	timeoutMs
	)

inline

Sets the Fused Heading to the specified value.

Parameters

angleDeg	New fused-heading in degrees [+/- 23,040 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.

◆ setFusedHeadingToCompass() [1/2]

ErrorCode com.ctre.phoenix.sensors.PigeonIMU.setFusedHeadingToCompass ( )

inline

Sets the Fused Heading register to match the current compass value.

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

◆ setFusedHeadingToCompass() [2/2]

ErrorCode com.ctre.phoenix.sensors.PigeonIMU.setFusedHeadingToCompass ( int timeoutMs )

inline

Sets the Fused Heading 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.

◆ setTemperatureCompensationDisable() [1/2]

ErrorCode com.ctre.phoenix.sensors.PigeonIMU.setTemperatureCompensationDisable ( boolean bTempCompDisable )

inline

Disable/Enable Temp compensation. Pigeon has this on/False at boot.

Parameters

bTempCompDisable Set to "False" to enable temperature compensation.

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

◆ setTemperatureCompensationDisable() [2/2]

ErrorCode com.ctre.phoenix.sensors.PigeonIMU.setTemperatureCompensationDisable	(	boolean	bTempCompDisable,
		int	timeoutMs
	)

inline

Disable/Enable Temp compensation. Pigeon has this on/False at boot.

Parameters

bTempCompDisable	Set to "False" to 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: 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/PigeonIMU.java

Classes

Public Member Functions

Additional Inherited Members

Detailed Description

Constructor & Destructor Documentation

◆ PigeonIMU() [1/2]

◆ PigeonIMU() [2/2]

Member Function Documentation

◆ addFusedHeading() [1/2]

◆ addFusedHeading() [2/2]

◆ configAllSettings() [1/2]

◆ configAllSettings() [2/2]

◆ configFactoryDefault() [1/2]

◆ configFactoryDefault() [2/2]

◆ enterCalibrationMode() [1/2]

◆ enterCalibrationMode() [2/2]

◆ getAccelerometerAngles()

◆ getAllConfigs() [1/2]

◆ getAllConfigs() [2/2]

◆ getFaults()

◆ getFusedHeading() [1/2]

◆ getFusedHeading() [2/2]

◆ getGeneralStatus()

◆ getState()

◆ getStickyFaults()

◆ setCompassAngle() [1/2]

◆ setCompassAngle() [2/2]

◆ setCompassDeclination() [1/2]

◆ setCompassDeclination() [2/2]

◆ setFusedHeading() [1/2]

◆ setFusedHeading() [2/2]

◆ setFusedHeadingToCompass() [1/2]

◆ setFusedHeadingToCompass() [2/2]

◆ setTemperatureCompensationDisable() [1/2]

◆ setTemperatureCompensationDisable() [2/2]