CTRE Phoenix 6 C++ 24.2.0
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Class description for the Pigeon 2 IMU sensor that measures orientation. More...
#include <ctre/phoenix6/core/CorePigeon2.hpp>
Public Member Functions | |
CorePigeon2 (int deviceId, std::string canbus="") | |
Constructs a new Pigeon 2 sensor object. More... | |
CorePigeon2 (CorePigeon2 const &)=delete | |
CorePigeon2 & | operator= (CorePigeon2 const &)=delete |
configs::Pigeon2Configurator & | GetConfigurator () |
Gets the configurator for this Pigeon2. More... | |
configs::Pigeon2Configurator const & | GetConfigurator () const |
Gets the configurator for this Pigeon2. More... | |
sim::Pigeon2SimState & | GetSimState () |
Get the simulation state for this device. More... | |
StatusSignal< int > & | GetVersionMajor () |
App Major Version number. More... | |
StatusSignal< int > & | GetVersionMinor () |
App Minor Version number. More... | |
StatusSignal< int > & | GetVersionBugfix () |
App Bugfix Version number. More... | |
StatusSignal< int > & | GetVersionBuild () |
App Build Version number. More... | |
StatusSignal< int > & | GetVersion () |
Full Version. More... | |
StatusSignal< int > & | GetFaultField () |
Integer representing all faults. More... | |
StatusSignal< int > & | GetStickyFaultField () |
Integer representing all sticky faults. More... | |
StatusSignal< units::angle::degree_t > & | GetYaw () |
Current reported yaw of the Pigeon2. More... | |
StatusSignal< units::angle::degree_t > & | GetPitch () |
Current reported pitch of the Pigeon2. More... | |
StatusSignal< units::angle::degree_t > & | GetRoll () |
Current reported roll of the Pigeon2. More... | |
StatusSignal< units::dimensionless::scalar_t > & | GetQuatW () |
The W component of the reported Quaternion. More... | |
StatusSignal< units::dimensionless::scalar_t > & | GetQuatX () |
The X component of the reported Quaternion. More... | |
StatusSignal< units::dimensionless::scalar_t > & | GetQuatY () |
The Y component of the reported Quaternion. More... | |
StatusSignal< units::dimensionless::scalar_t > & | GetQuatZ () |
The Z component of the reported Quaternion. More... | |
StatusSignal< units::dimensionless::scalar_t > & | GetGravityVectorX () |
The X component of the gravity vector. More... | |
StatusSignal< units::dimensionless::scalar_t > & | GetGravityVectorY () |
The Y component of the gravity vector. More... | |
StatusSignal< units::dimensionless::scalar_t > & | GetGravityVectorZ () |
The Z component of the gravity vector. More... | |
StatusSignal< units::temperature::celsius_t > & | GetTemperature () |
Temperature of the Pigeon 2. More... | |
StatusSignal< bool > & | GetNoMotionEnabled () |
Whether the no-motion calibration feature is enabled. More... | |
StatusSignal< units::dimensionless::scalar_t > & | GetNoMotionCount () |
The number of times a no-motion event occurred, wraps at 15. More... | |
StatusSignal< bool > & | GetTemperatureCompensationDisabled () |
Whether the temperature-compensation feature is disabled. More... | |
StatusSignal< units::time::second_t > & | GetUpTime () |
How long the Pigeon 2's been up in seconds, caps at 255 seconds. More... | |
StatusSignal< units::angle::degree_t > & | GetAccumGyroX () |
The accumulated gyro about the X axis without any sensor fusing. More... | |
StatusSignal< units::angle::degree_t > & | GetAccumGyroY () |
The accumulated gyro about the Y axis without any sensor fusing. More... | |
StatusSignal< units::angle::degree_t > & | GetAccumGyroZ () |
The accumulated gyro about the Z axis without any sensor fusing. More... | |
StatusSignal< units::angular_velocity::degrees_per_second_t > & | GetAngularVelocityXWorld () |
Angular Velocity world X. More... | |
StatusSignal< units::angular_velocity::degrees_per_second_t > & | GetAngularVelocityYWorld () |
Angular Velocity Quaternion Y Component. More... | |
StatusSignal< units::angular_velocity::degrees_per_second_t > & | GetAngularVelocityZWorld () |
Angular Velocity Quaternion Z Component. More... | |
StatusSignal< units::acceleration::standard_gravity_t > & | GetAccelerationX () |
The acceleration measured by Pigeon2 in the X direction. More... | |
StatusSignal< units::acceleration::standard_gravity_t > & | GetAccelerationY () |
The acceleration measured by Pigeon2 in the Y direction. More... | |
StatusSignal< units::acceleration::standard_gravity_t > & | GetAccelerationZ () |
The acceleration measured by Pigeon2 in the Z direction. More... | |
StatusSignal< units::voltage::volt_t > & | GetSupplyVoltage () |
Measured supply voltage to the Pigeon2. More... | |
StatusSignal< units::angular_velocity::degrees_per_second_t > & | GetAngularVelocityXDevice () |
The angular velocity (ω) of the Pigeon 2 about the device's X axis. More... | |
StatusSignal< units::angular_velocity::degrees_per_second_t > & | GetAngularVelocityYDevice () |
The angular velocity (ω) of the Pigeon 2 about the device's Y axis. More... | |
StatusSignal< units::angular_velocity::degrees_per_second_t > & | GetAngularVelocityZDevice () |
The angular velocity (ω) of the Pigeon 2 about the device's Z axis. More... | |
StatusSignal< units::magnetic_field_strength::microtesla_t > & | GetMagneticFieldX () |
The biased magnitude of the magnetic field measured by the Pigeon 2 in the X direction. More... | |
StatusSignal< units::magnetic_field_strength::microtesla_t > & | GetMagneticFieldY () |
The biased magnitude of the magnetic field measured by the Pigeon 2 in the Y direction. More... | |
StatusSignal< units::magnetic_field_strength::microtesla_t > & | GetMagneticFieldZ () |
The biased magnitude of the magnetic field measured by the Pigeon 2 in the Z direction. More... | |
StatusSignal< units::magnetic_field_strength::microtesla_t > & | GetRawMagneticFieldX () |
The raw magnitude of the magnetic field measured by the Pigeon 2 in the X direction. More... | |
StatusSignal< units::magnetic_field_strength::microtesla_t > & | GetRawMagneticFieldY () |
The raw magnitude of the magnetic field measured by the Pigeon 2 in the Y direction. More... | |
StatusSignal< units::magnetic_field_strength::microtesla_t > & | GetRawMagneticFieldZ () |
The raw magnitude of the magnetic field measured by the Pigeon 2 in the Z direction. More... | |
StatusSignal< bool > & | GetIsProLicensed () |
Whether the device is Phoenix Pro licensed. More... | |
StatusSignal< bool > & | GetFault_Hardware () |
Hardware fault occurred. More... | |
StatusSignal< bool > & | GetStickyFault_Hardware () |
Hardware fault occurred. More... | |
StatusSignal< bool > & | GetFault_Undervoltage () |
Device supply voltage dropped to near brownout levels. More... | |
StatusSignal< bool > & | GetStickyFault_Undervoltage () |
Device supply voltage dropped to near brownout levels. More... | |
StatusSignal< bool > & | GetFault_BootDuringEnable () |
Device boot while detecting the enable signal. More... | |
StatusSignal< bool > & | GetStickyFault_BootDuringEnable () |
Device boot while detecting the enable signal. More... | |
StatusSignal< bool > & | GetFault_UnlicensedFeatureInUse () |
An unlicensed feature is in use, device may not behave as expected. More... | |
StatusSignal< bool > & | GetStickyFault_UnlicensedFeatureInUse () |
An unlicensed feature is in use, device may not behave as expected. More... | |
StatusSignal< bool > & | GetFault_BootupAccelerometer () |
Bootup checks failed: Accelerometer. More... | |
StatusSignal< bool > & | GetStickyFault_BootupAccelerometer () |
Bootup checks failed: Accelerometer. More... | |
StatusSignal< bool > & | GetFault_BootupGyroscope () |
Bootup checks failed: Gyroscope. More... | |
StatusSignal< bool > & | GetStickyFault_BootupGyroscope () |
Bootup checks failed: Gyroscope. More... | |
StatusSignal< bool > & | GetFault_BootupMagnetometer () |
Bootup checks failed: Magnetometer. More... | |
StatusSignal< bool > & | GetStickyFault_BootupMagnetometer () |
Bootup checks failed: Magnetometer. More... | |
StatusSignal< bool > & | GetFault_BootIntoMotion () |
Motion Detected during bootup. More... | |
StatusSignal< bool > & | GetStickyFault_BootIntoMotion () |
Motion Detected during bootup. More... | |
StatusSignal< bool > & | GetFault_DataAcquiredLate () |
Motion stack data acquisition was slower than expected. More... | |
StatusSignal< bool > & | GetStickyFault_DataAcquiredLate () |
Motion stack data acquisition was slower than expected. More... | |
StatusSignal< bool > & | GetFault_LoopTimeSlow () |
Motion stack loop time was slower than expected. More... | |
StatusSignal< bool > & | GetStickyFault_LoopTimeSlow () |
Motion stack loop time was slower than expected. More... | |
StatusSignal< bool > & | GetFault_SaturatedMagnetometer () |
Magnetometer values are saturated. More... | |
StatusSignal< bool > & | GetStickyFault_SaturatedMagnetometer () |
Magnetometer values are saturated. More... | |
StatusSignal< bool > & | GetFault_SaturatedAccelerometer () |
Accelerometer values are saturated. More... | |
StatusSignal< bool > & | GetStickyFault_SaturatedAccelerometer () |
Accelerometer values are saturated. More... | |
StatusSignal< bool > & | GetFault_SaturatedGyroscope () |
Gyroscope values are saturated. More... | |
StatusSignal< bool > & | GetStickyFault_SaturatedGyroscope () |
Gyroscope values are saturated. More... | |
ctre::phoenix::StatusCode | SetControl (controls::ControlRequest &request) |
Control motor with generic control request object. More... | |
ctre::phoenix::StatusCode | SetControl (controls::ControlRequest &&request) |
Control motor with generic control request object. More... | |
ctre::phoenix::StatusCode | SetYaw (units::angle::degree_t newValue, units::time::second_t timeoutSeconds) |
The yaw to set the Pigeon2 to right now. More... | |
ctre::phoenix::StatusCode | SetYaw (units::angle::degree_t newValue) |
The yaw to set the Pigeon2 to right now. More... | |
ctre::phoenix::StatusCode | ClearStickyFaults (units::time::second_t timeoutSeconds) |
Clear the sticky faults in the device. More... | |
ctre::phoenix::StatusCode | ClearStickyFaults () |
Clear the sticky faults in the device. More... | |
ctre::phoenix::StatusCode | ClearStickyFault_Hardware (units::time::second_t timeoutSeconds) |
Clear sticky fault: Hardware fault occurred. More... | |
ctre::phoenix::StatusCode | ClearStickyFault_Hardware () |
Clear sticky fault: Hardware fault occurred. More... | |
ctre::phoenix::StatusCode | ClearStickyFault_Undervoltage (units::time::second_t timeoutSeconds) |
Clear sticky fault: Device supply voltage dropped to near brownout levels. More... | |
ctre::phoenix::StatusCode | ClearStickyFault_Undervoltage () |
Clear sticky fault: Device supply voltage dropped to near brownout levels. More... | |
ctre::phoenix::StatusCode | ClearStickyFault_BootDuringEnable (units::time::second_t timeoutSeconds) |
Clear sticky fault: Device boot while detecting the enable signal. More... | |
ctre::phoenix::StatusCode | ClearStickyFault_BootDuringEnable () |
Clear sticky fault: Device boot while detecting the enable signal. More... | |
ctre::phoenix::StatusCode | ClearStickyFault_BootupAccelerometer (units::time::second_t timeoutSeconds) |
Clear sticky fault: Bootup checks failed: Accelerometer. More... | |
ctre::phoenix::StatusCode | ClearStickyFault_BootupAccelerometer () |
Clear sticky fault: Bootup checks failed: Accelerometer. More... | |
ctre::phoenix::StatusCode | ClearStickyFault_BootupGyroscope (units::time::second_t timeoutSeconds) |
Clear sticky fault: Bootup checks failed: Gyroscope. More... | |
ctre::phoenix::StatusCode | ClearStickyFault_BootupGyroscope () |
Clear sticky fault: Bootup checks failed: Gyroscope. More... | |
ctre::phoenix::StatusCode | ClearStickyFault_BootupMagnetometer (units::time::second_t timeoutSeconds) |
Clear sticky fault: Bootup checks failed: Magnetometer. More... | |
ctre::phoenix::StatusCode | ClearStickyFault_BootupMagnetometer () |
Clear sticky fault: Bootup checks failed: Magnetometer. More... | |
ctre::phoenix::StatusCode | ClearStickyFault_BootIntoMotion (units::time::second_t timeoutSeconds) |
Clear sticky fault: Motion Detected during bootup. More... | |
ctre::phoenix::StatusCode | ClearStickyFault_BootIntoMotion () |
Clear sticky fault: Motion Detected during bootup. More... | |
ctre::phoenix::StatusCode | ClearStickyFault_DataAcquiredLate (units::time::second_t timeoutSeconds) |
Clear sticky fault: Motion stack data acquisition was slower than expected. More... | |
ctre::phoenix::StatusCode | ClearStickyFault_DataAcquiredLate () |
Clear sticky fault: Motion stack data acquisition was slower than expected. More... | |
ctre::phoenix::StatusCode | ClearStickyFault_LoopTimeSlow (units::time::second_t timeoutSeconds) |
Clear sticky fault: Motion stack loop time was slower than expected. More... | |
ctre::phoenix::StatusCode | ClearStickyFault_LoopTimeSlow () |
Clear sticky fault: Motion stack loop time was slower than expected. More... | |
ctre::phoenix::StatusCode | ClearStickyFault_SaturatedMagnetometer (units::time::second_t timeoutSeconds) |
Clear sticky fault: Magnetometer values are saturated. More... | |
ctre::phoenix::StatusCode | ClearStickyFault_SaturatedMagnetometer () |
Clear sticky fault: Magnetometer values are saturated. More... | |
ctre::phoenix::StatusCode | ClearStickyFault_SaturatedAccelerometer (units::time::second_t timeoutSeconds) |
Clear sticky fault: Accelerometer values are saturated. More... | |
ctre::phoenix::StatusCode | ClearStickyFault_SaturatedAccelerometer () |
Clear sticky fault: Accelerometer values are saturated. More... | |
ctre::phoenix::StatusCode | ClearStickyFault_SaturatedGyroscope (units::time::second_t timeoutSeconds) |
Clear sticky fault: Gyroscope values are saturated. More... | |
ctre::phoenix::StatusCode | ClearStickyFault_SaturatedGyroscope () |
Clear sticky fault: Gyroscope values are saturated. More... | |
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ParentDevice (int deviceID, std::string model, std::string canbus) | |
virtual | ~ParentDevice ()=default |
int | GetDeviceID () const |
const std::string & | GetNetwork () const |
uint64_t | GetDeviceHash () const |
Gets a number unique for this device's hardware type and ID. More... | |
std::shared_ptr< const controls::ControlRequest > | GetAppliedControl () const |
Get the latest applied control. More... | |
std::shared_ptr< controls::ControlRequest > | GetAppliedControl () |
Get the latest applied control. More... | |
bool | HasResetOccurred () |
std::function< bool()> | GetResetOccurredChecker () const |
StatusSignal< double > & | GetGenericSignal (uint32_t signal) |
This is a reserved routine for internal testing. More... | |
ctre::phoenix::StatusCode | OptimizeBusUtilization (units::time::second_t timeoutSeconds=50_ms) |
Optimizes the device's bus utilization by reducing the update frequencies of its status signals. More... | |
Additional Inherited Members | |
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template<typename... Devices, typename = std::enable_if_t<is_all_device_v<Devices...>>> | |
static ctre::phoenix::StatusCode | OptimizeBusUtilizationForAll (Devices &... devices) |
Optimizes the bus utilization of the provided devices by reducing the update frequencies of their status signals. More... | |
static ctre::phoenix::StatusCode | OptimizeBusUtilizationForAll (const std::vector< ParentDevice * > &devices) |
Optimizes the bus utilization of the provided devices by reducing the update frequencies of their status signals. More... | |
template<size_t N> | |
static ctre::phoenix::StatusCode | OptimizeBusUtilizationForAll (const std::array< ParentDevice *, N > &devices) |
Optimizes the bus utilization of the provided devices by reducing the update frequencies of their status signals. More... | |
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virtual ctre::phoenix::StatusCode | SetControlPrivate (controls::ControlRequest &request) |
template<typename T > | |
StatusSignal< T > & | LookupStatusSignal (uint16_t spn, std::string signalName, bool reportOnConstruction) |
template<typename T > | |
StatusSignal< T > & | LookupStatusSignal (uint16_t spn, uint16_t mapper_iter, std::function< std::map< int, StatusSignal< T > >()> map_filler, std::string signalName, bool reportOnConstruction) |
template<typename T , typename U > | |
StatusSignal< T > | LookupDimensionlessStatusSignal (uint16_t spn, std::string signalName) |
Returns a unitless version of the StatusSignal by value. More... | |
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DeviceIdentifier | deviceIdentifier |
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static controls::EmptyControl | _emptyControl {} |
template<typename... Devices> | |
static constexpr bool | is_all_device_v = is_all_device<Devices...>::value |
Whether all types passed in are subclasses of ParentDevice. More... | |
Class description for the Pigeon 2 IMU sensor that measures orientation.
ctre::phoenix6::hardware::core::CorePigeon2::CorePigeon2 | ( | int | deviceId, |
std::string | canbus = "" |
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Constructs a new Pigeon 2 sensor object.
deviceId | ID of the device, as configured in Phoenix Tuner. |
canbus | Name of the CAN bus this device is on. Possible CAN bus strings are:
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Clear sticky fault: Device boot while detecting the enable signal.
This will wait up to 0.050 seconds (50ms) by default.
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Clear sticky fault: Device boot while detecting the enable signal.
timeoutSeconds | Maximum time to wait up to in seconds. |
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Clear sticky fault: Motion Detected during bootup.
This will wait up to 0.050 seconds (50ms) by default.
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Clear sticky fault: Motion Detected during bootup.
timeoutSeconds | Maximum time to wait up to in seconds. |
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Clear sticky fault: Bootup checks failed: Accelerometer.
This will wait up to 0.050 seconds (50ms) by default.
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Clear sticky fault: Bootup checks failed: Accelerometer.
timeoutSeconds | Maximum time to wait up to in seconds. |
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Clear sticky fault: Bootup checks failed: Gyroscope.
This will wait up to 0.050 seconds (50ms) by default.
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Clear sticky fault: Bootup checks failed: Gyroscope.
timeoutSeconds | Maximum time to wait up to in seconds. |
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Clear sticky fault: Bootup checks failed: Magnetometer.
This will wait up to 0.050 seconds (50ms) by default.
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Clear sticky fault: Bootup checks failed: Magnetometer.
timeoutSeconds | Maximum time to wait up to in seconds. |
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Clear sticky fault: Motion stack data acquisition was slower than expected.
This will wait up to 0.050 seconds (50ms) by default.
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Clear sticky fault: Motion stack data acquisition was slower than expected.
timeoutSeconds | Maximum time to wait up to in seconds. |
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Clear sticky fault: Hardware fault occurred.
This will wait up to 0.050 seconds (50ms) by default.
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Clear sticky fault: Hardware fault occurred.
timeoutSeconds | Maximum time to wait up to in seconds. |
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Clear sticky fault: Motion stack loop time was slower than expected.
This will wait up to 0.050 seconds (50ms) by default.
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Clear sticky fault: Motion stack loop time was slower than expected.
timeoutSeconds | Maximum time to wait up to in seconds. |
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Clear sticky fault: Accelerometer values are saturated.
This will wait up to 0.050 seconds (50ms) by default.
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Clear sticky fault: Accelerometer values are saturated.
timeoutSeconds | Maximum time to wait up to in seconds. |
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Clear sticky fault: Gyroscope values are saturated.
This will wait up to 0.050 seconds (50ms) by default.
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Clear sticky fault: Gyroscope values are saturated.
timeoutSeconds | Maximum time to wait up to in seconds. |
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Clear sticky fault: Magnetometer values are saturated.
This will wait up to 0.050 seconds (50ms) by default.
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Clear sticky fault: Magnetometer values are saturated.
timeoutSeconds | Maximum time to wait up to in seconds. |
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Clear sticky fault: Device supply voltage dropped to near brownout levels.
This will wait up to 0.050 seconds (50ms) by default.
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Clear sticky fault: Device supply voltage dropped to near brownout levels.
timeoutSeconds | Maximum time to wait up to in seconds. |
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Clear the sticky faults in the device.
This typically has no impact on the device functionality. Instead, it just clears telemetry faults that are accessible via API and Tuner Self-Test.
This will wait up to 0.050 seconds (50ms) by default.
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Clear the sticky faults in the device.
This typically has no impact on the device functionality. Instead, it just clears telemetry faults that are accessible via API and Tuner Self-Test.
timeoutSeconds | Maximum time to wait up to in seconds. |
StatusSignal< units::acceleration::standard_gravity_t > & ctre::phoenix6::hardware::core::CorePigeon2::GetAccelerationX | ( | ) |
The acceleration measured by Pigeon2 in the X direction.
This value includes the acceleration due to gravity. If this is undesirable, get the gravity vector and subtract out the contribution in this direction.
Minimum Value: -2.0 Maximum Value: 1.99993896484375 Default Value: 0 Units: g
Default Rates: CAN 2.0: 10.0 Hz CAN FD: 100.0 Hz (TimeSynced with Pro)
StatusSignal< units::acceleration::standard_gravity_t > & ctre::phoenix6::hardware::core::CorePigeon2::GetAccelerationY | ( | ) |
The acceleration measured by Pigeon2 in the Y direction.
This value includes the acceleration due to gravity. If this is undesirable, get the gravity vector and subtract out the contribution in this direction.
Minimum Value: -2.0 Maximum Value: 1.99993896484375 Default Value: 0 Units: g
Default Rates: CAN 2.0: 10.0 Hz CAN FD: 100.0 Hz (TimeSynced with Pro)
StatusSignal< units::acceleration::standard_gravity_t > & ctre::phoenix6::hardware::core::CorePigeon2::GetAccelerationZ | ( | ) |
The acceleration measured by Pigeon2 in the Z direction.
This value includes the acceleration due to gravity. If this is undesirable, get the gravity vector and subtract out the contribution in this direction.
Minimum Value: -2.0 Maximum Value: 1.99993896484375 Default Value: 0 Units: g
Default Rates: CAN 2.0: 10.0 Hz CAN FD: 100.0 Hz (TimeSynced with Pro)
StatusSignal< units::angle::degree_t > & ctre::phoenix6::hardware::core::CorePigeon2::GetAccumGyroX | ( | ) |
The accumulated gyro about the X axis without any sensor fusing.
Minimum Value: -23040.0 Maximum Value: 23039.9560546875 Default Value: 0 Units: deg
Default Rates: CAN 2.0: 4.0 Hz CAN FD: 100.0 Hz (TimeSynced with Pro)
StatusSignal< units::angle::degree_t > & ctre::phoenix6::hardware::core::CorePigeon2::GetAccumGyroY | ( | ) |
The accumulated gyro about the Y axis without any sensor fusing.
Minimum Value: -23040.0 Maximum Value: 23039.9560546875 Default Value: 0 Units: deg
Default Rates: CAN 2.0: 4.0 Hz CAN FD: 100.0 Hz (TimeSynced with Pro)
StatusSignal< units::angle::degree_t > & ctre::phoenix6::hardware::core::CorePigeon2::GetAccumGyroZ | ( | ) |
The accumulated gyro about the Z axis without any sensor fusing.
Minimum Value: -23040.0 Maximum Value: 23039.9560546875 Default Value: 0 Units: deg
Default Rates: CAN 2.0: 4.0 Hz CAN FD: 100.0 Hz (TimeSynced with Pro)
StatusSignal< units::angular_velocity::degrees_per_second_t > & ctre::phoenix6::hardware::core::CorePigeon2::GetAngularVelocityXDevice | ( | ) |
The angular velocity (ω) of the Pigeon 2 about the device's X axis.
This value is not mount-calibrated
Minimum Value: -1998.048780487805 Maximum Value: 1997.987804878049 Default Value: 0 Units: dps
Default Rates: CAN: 4.0 Hz
StatusSignal< units::angular_velocity::degrees_per_second_t > & ctre::phoenix6::hardware::core::CorePigeon2::GetAngularVelocityXWorld | ( | ) |
Angular Velocity world X.
This is the X component of the angular velocity with respect to the world frame and is mount-calibrated.
Minimum Value: -2048.0 Maximum Value: 2047.99609375 Default Value: 0 Units: dps
Default Rates: CAN 2.0: 10.0 Hz CAN FD: 100.0 Hz (TimeSynced with Pro)
StatusSignal< units::angular_velocity::degrees_per_second_t > & ctre::phoenix6::hardware::core::CorePigeon2::GetAngularVelocityYDevice | ( | ) |
The angular velocity (ω) of the Pigeon 2 about the device's Y axis.
This value is not mount-calibrated
Minimum Value: -1998.048780487805 Maximum Value: 1997.987804878049 Default Value: 0 Units: dps
Default Rates: CAN: 4.0 Hz
StatusSignal< units::angular_velocity::degrees_per_second_t > & ctre::phoenix6::hardware::core::CorePigeon2::GetAngularVelocityYWorld | ( | ) |
Angular Velocity Quaternion Y Component.
This is the Y component of the angular velocity with respect to the world frame and is mount-calibrated.
Minimum Value: -2048.0 Maximum Value: 2047.99609375 Default Value: 0 Units: dps
Default Rates: CAN 2.0: 10.0 Hz CAN FD: 100.0 Hz (TimeSynced with Pro)
StatusSignal< units::angular_velocity::degrees_per_second_t > & ctre::phoenix6::hardware::core::CorePigeon2::GetAngularVelocityZDevice | ( | ) |
The angular velocity (ω) of the Pigeon 2 about the device's Z axis.
This value is not mount-calibrated
Minimum Value: -1998.048780487805 Maximum Value: 1997.987804878049 Default Value: 0 Units: dps
Default Rates: CAN: 4.0 Hz
StatusSignal< units::angular_velocity::degrees_per_second_t > & ctre::phoenix6::hardware::core::CorePigeon2::GetAngularVelocityZWorld | ( | ) |
Angular Velocity Quaternion Z Component.
This is the Z component of the angular velocity with respect to the world frame and is mount-calibrated.
Minimum Value: -2048.0 Maximum Value: 2047.99609375 Default Value: 0 Units: dps
Default Rates: CAN 2.0: 10.0 Hz CAN FD: 100.0 Hz (TimeSynced with Pro)
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StatusSignal< bool > & ctre::phoenix6::hardware::core::CorePigeon2::GetFault_BootDuringEnable | ( | ) |
Device boot while detecting the enable signal.
Default Value: False
Default Rates: CAN: 4.0 Hz
StatusSignal< bool > & ctre::phoenix6::hardware::core::CorePigeon2::GetFault_BootIntoMotion | ( | ) |
Motion Detected during bootup.
Default Value: False
Default Rates: CAN: 4.0 Hz
StatusSignal< bool > & ctre::phoenix6::hardware::core::CorePigeon2::GetFault_BootupAccelerometer | ( | ) |
Bootup checks failed: Accelerometer.
Default Value: False
Default Rates: CAN: 4.0 Hz
StatusSignal< bool > & ctre::phoenix6::hardware::core::CorePigeon2::GetFault_BootupGyroscope | ( | ) |
Bootup checks failed: Gyroscope.
Default Value: False
Default Rates: CAN: 4.0 Hz
StatusSignal< bool > & ctre::phoenix6::hardware::core::CorePigeon2::GetFault_BootupMagnetometer | ( | ) |
Bootup checks failed: Magnetometer.
Default Value: False
Default Rates: CAN: 4.0 Hz
StatusSignal< bool > & ctre::phoenix6::hardware::core::CorePigeon2::GetFault_DataAcquiredLate | ( | ) |
Motion stack data acquisition was slower than expected.
Default Value: False
Default Rates: CAN: 4.0 Hz
StatusSignal< bool > & ctre::phoenix6::hardware::core::CorePigeon2::GetFault_Hardware | ( | ) |
Hardware fault occurred.
Default Value: False
Default Rates: CAN: 4.0 Hz
StatusSignal< bool > & ctre::phoenix6::hardware::core::CorePigeon2::GetFault_LoopTimeSlow | ( | ) |
Motion stack loop time was slower than expected.
Default Value: False
Default Rates: CAN: 4.0 Hz
StatusSignal< bool > & ctre::phoenix6::hardware::core::CorePigeon2::GetFault_SaturatedAccelerometer | ( | ) |
Accelerometer values are saturated.
Default Value: False
Default Rates: CAN: 4.0 Hz
StatusSignal< bool > & ctre::phoenix6::hardware::core::CorePigeon2::GetFault_SaturatedGyroscope | ( | ) |
Gyroscope values are saturated.
Default Value: False
Default Rates: CAN: 4.0 Hz
StatusSignal< bool > & ctre::phoenix6::hardware::core::CorePigeon2::GetFault_SaturatedMagnetometer | ( | ) |
Magnetometer values are saturated.
Default Value: False
Default Rates: CAN: 4.0 Hz
StatusSignal< bool > & ctre::phoenix6::hardware::core::CorePigeon2::GetFault_Undervoltage | ( | ) |
Device supply voltage dropped to near brownout levels.
Default Value: False
Default Rates: CAN: 4.0 Hz
StatusSignal< bool > & ctre::phoenix6::hardware::core::CorePigeon2::GetFault_UnlicensedFeatureInUse | ( | ) |
An unlicensed feature is in use, device may not behave as expected.
Default Value: False
Default Rates: CAN: 4.0 Hz
StatusSignal< int > & ctre::phoenix6::hardware::core::CorePigeon2::GetFaultField | ( | ) |
Integer representing all faults.
This returns the fault flags reported by the device. These are device specific and are not used directly in typical applications. Use the signal specific GetFault_*() methods instead.
Minimum Value: 0 Maximum Value: 16777215 Default Value: 0 Units:
Default Rates: CAN: 4.0 Hz
StatusSignal< units::dimensionless::scalar_t > & ctre::phoenix6::hardware::core::CorePigeon2::GetGravityVectorX | ( | ) |
The X component of the gravity vector.
This is the X component of the reported gravity-vector. The gravity vector is not the acceleration experienced by the Pigeon2, rather it is where the Pigeon2 believes "Down" is. This can be used for mechanisms that are linearly related to gravity, such as an arm pivoting about a point, as the contribution of gravity to the arm is directly proportional to the contribution of gravity about one of these primary axis.
Minimum Value: -1.000030518509476 Maximum Value: 1.0 Default Value: 0 Units:
Default Rates: CAN 2.0: 10.0 Hz CAN FD: 100.0 Hz (TimeSynced with Pro)
StatusSignal< units::dimensionless::scalar_t > & ctre::phoenix6::hardware::core::CorePigeon2::GetGravityVectorY | ( | ) |
The Y component of the gravity vector.
This is the X component of the reported gravity-vector. The gravity vector is not the acceleration experienced by the Pigeon2, rather it is where the Pigeon2 believes "Down" is. This can be used for mechanisms that are linearly related to gravity, such as an arm pivoting about a point, as the contribution of gravity to the arm is directly proportional to the contribution of gravity about one of these primary axis.
Minimum Value: -1.000030518509476 Maximum Value: 1.0 Default Value: 0 Units:
Default Rates: CAN 2.0: 10.0 Hz CAN FD: 100.0 Hz (TimeSynced with Pro)
StatusSignal< units::dimensionless::scalar_t > & ctre::phoenix6::hardware::core::CorePigeon2::GetGravityVectorZ | ( | ) |
The Z component of the gravity vector.
This is the Z component of the reported gravity-vector. The gravity vector is not the acceleration experienced by the Pigeon2, rather it is where the Pigeon2 believes "Down" is. This can be used for mechanisms that are linearly related to gravity, such as an arm pivoting about a point, as the contribution of gravity to the arm is directly proportional to the contribution of gravity about one of these primary axis.
Minimum Value: -1.000030518509476 Maximum Value: 1.0 Default Value: 0 Units:
Default Rates: CAN 2.0: 10.0 Hz CAN FD: 100.0 Hz (TimeSynced with Pro)
StatusSignal< bool > & ctre::phoenix6::hardware::core::CorePigeon2::GetIsProLicensed | ( | ) |
Whether the device is Phoenix Pro licensed.
Default Value: False
Default Rates: CAN: 4.0 Hz
StatusSignal< units::magnetic_field_strength::microtesla_t > & ctre::phoenix6::hardware::core::CorePigeon2::GetMagneticFieldX | ( | ) |
The biased magnitude of the magnetic field measured by the Pigeon 2 in the X direction.
This is only valid after performing a magnetometer calibration.
Minimum Value: -19660.8 Maximum Value: 19660.2 Default Value: 0 Units: uT
Default Rates: CAN: 4.0 Hz
StatusSignal< units::magnetic_field_strength::microtesla_t > & ctre::phoenix6::hardware::core::CorePigeon2::GetMagneticFieldY | ( | ) |
The biased magnitude of the magnetic field measured by the Pigeon 2 in the Y direction.
This is only valid after performing a magnetometer calibration.
Minimum Value: -19660.8 Maximum Value: 19660.2 Default Value: 0 Units: uT
Default Rates: CAN: 4.0 Hz
StatusSignal< units::magnetic_field_strength::microtesla_t > & ctre::phoenix6::hardware::core::CorePigeon2::GetMagneticFieldZ | ( | ) |
The biased magnitude of the magnetic field measured by the Pigeon 2 in the Z direction.
This is only valid after performing a magnetometer calibration.
Minimum Value: -19660.8 Maximum Value: 19660.2 Default Value: 0 Units: uT
Default Rates: CAN: 4.0 Hz
StatusSignal< units::dimensionless::scalar_t > & ctre::phoenix6::hardware::core::CorePigeon2::GetNoMotionCount | ( | ) |
The number of times a no-motion event occurred, wraps at 15.
Minimum Value: 0 Maximum Value: 15 Default Value: 0 Units:
Default Rates: CAN 2.0: 4.0 Hz CAN FD: 100.0 Hz (TimeSynced with Pro)
StatusSignal< bool > & ctre::phoenix6::hardware::core::CorePigeon2::GetNoMotionEnabled | ( | ) |
Whether the no-motion calibration feature is enabled.
Default Value: 0
Default Rates: CAN 2.0: 4.0 Hz CAN FD: 100.0 Hz (TimeSynced with Pro)
StatusSignal< units::angle::degree_t > & ctre::phoenix6::hardware::core::CorePigeon2::GetPitch | ( | ) |
Current reported pitch of the Pigeon2.
Minimum Value: -90.0 Maximum Value: 89.9560546875 Default Value: 0 Units: deg
Default Rates: CAN 2.0: 100.0 Hz CAN FD: 100.0 Hz (TimeSynced with Pro)
StatusSignal< units::dimensionless::scalar_t > & ctre::phoenix6::hardware::core::CorePigeon2::GetQuatW | ( | ) |
The W component of the reported Quaternion.
Minimum Value: -1.0001220852154804 Maximum Value: 1.0 Default Value: 0 Units:
Default Rates: CAN 2.0: 50.0 Hz CAN FD: 100.0 Hz (TimeSynced with Pro)
StatusSignal< units::dimensionless::scalar_t > & ctre::phoenix6::hardware::core::CorePigeon2::GetQuatX | ( | ) |
The X component of the reported Quaternion.
Minimum Value: -1.0001220852154804 Maximum Value: 1.0 Default Value: 0 Units:
Default Rates: CAN 2.0: 50.0 Hz CAN FD: 100.0 Hz (TimeSynced with Pro)
StatusSignal< units::dimensionless::scalar_t > & ctre::phoenix6::hardware::core::CorePigeon2::GetQuatY | ( | ) |
The Y component of the reported Quaternion.
Minimum Value: -1.0001220852154804 Maximum Value: 1.0 Default Value: 0 Units:
Default Rates: CAN 2.0: 50.0 Hz CAN FD: 100.0 Hz (TimeSynced with Pro)
StatusSignal< units::dimensionless::scalar_t > & ctre::phoenix6::hardware::core::CorePigeon2::GetQuatZ | ( | ) |
The Z component of the reported Quaternion.
Minimum Value: -1.0001220852154804 Maximum Value: 1.0 Default Value: 0 Units:
Default Rates: CAN 2.0: 50.0 Hz CAN FD: 100.0 Hz (TimeSynced with Pro)
StatusSignal< units::magnetic_field_strength::microtesla_t > & ctre::phoenix6::hardware::core::CorePigeon2::GetRawMagneticFieldX | ( | ) |
The raw magnitude of the magnetic field measured by the Pigeon 2 in the X direction.
This is only valid after performing a magnetometer calibration.
Minimum Value: -19660.8 Maximum Value: 19660.2 Default Value: 0 Units: uT
Default Rates: CAN: 4.0 Hz
StatusSignal< units::magnetic_field_strength::microtesla_t > & ctre::phoenix6::hardware::core::CorePigeon2::GetRawMagneticFieldY | ( | ) |
The raw magnitude of the magnetic field measured by the Pigeon 2 in the Y direction.
This is only valid after performing a magnetometer calibration.
Minimum Value: -19660.8 Maximum Value: 19660.2 Default Value: 0 Units: uT
Default Rates: CAN: 4.0 Hz
StatusSignal< units::magnetic_field_strength::microtesla_t > & ctre::phoenix6::hardware::core::CorePigeon2::GetRawMagneticFieldZ | ( | ) |
The raw magnitude of the magnetic field measured by the Pigeon 2 in the Z direction.
This is only valid after performing a magnetometer calibration.
Minimum Value: -19660.8 Maximum Value: 19660.2 Default Value: 0 Units: uT
Default Rates: CAN: 4.0 Hz
StatusSignal< units::angle::degree_t > & ctre::phoenix6::hardware::core::CorePigeon2::GetRoll | ( | ) |
Current reported roll of the Pigeon2.
Minimum Value: -180.0 Maximum Value: 179.9560546875 Default Value: 0 Units: deg
Default Rates: CAN 2.0: 100.0 Hz CAN FD: 100.0 Hz (TimeSynced with Pro)
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Get the simulation state for this device.
This function reuses an allocated simulation state object, so it is safe to call this function multiple times in a robot loop.
StatusSignal< bool > & ctre::phoenix6::hardware::core::CorePigeon2::GetStickyFault_BootDuringEnable | ( | ) |
Device boot while detecting the enable signal.
Default Value: False
Default Rates: CAN: 4.0 Hz
StatusSignal< bool > & ctre::phoenix6::hardware::core::CorePigeon2::GetStickyFault_BootIntoMotion | ( | ) |
Motion Detected during bootup.
Default Value: False
Default Rates: CAN: 4.0 Hz
StatusSignal< bool > & ctre::phoenix6::hardware::core::CorePigeon2::GetStickyFault_BootupAccelerometer | ( | ) |
Bootup checks failed: Accelerometer.
Default Value: False
Default Rates: CAN: 4.0 Hz
StatusSignal< bool > & ctre::phoenix6::hardware::core::CorePigeon2::GetStickyFault_BootupGyroscope | ( | ) |
Bootup checks failed: Gyroscope.
Default Value: False
Default Rates: CAN: 4.0 Hz
StatusSignal< bool > & ctre::phoenix6::hardware::core::CorePigeon2::GetStickyFault_BootupMagnetometer | ( | ) |
Bootup checks failed: Magnetometer.
Default Value: False
Default Rates: CAN: 4.0 Hz
StatusSignal< bool > & ctre::phoenix6::hardware::core::CorePigeon2::GetStickyFault_DataAcquiredLate | ( | ) |
Motion stack data acquisition was slower than expected.
Default Value: False
Default Rates: CAN: 4.0 Hz
StatusSignal< bool > & ctre::phoenix6::hardware::core::CorePigeon2::GetStickyFault_Hardware | ( | ) |
Hardware fault occurred.
Default Value: False
Default Rates: CAN: 4.0 Hz
StatusSignal< bool > & ctre::phoenix6::hardware::core::CorePigeon2::GetStickyFault_LoopTimeSlow | ( | ) |
Motion stack loop time was slower than expected.
Default Value: False
Default Rates: CAN: 4.0 Hz
StatusSignal< bool > & ctre::phoenix6::hardware::core::CorePigeon2::GetStickyFault_SaturatedAccelerometer | ( | ) |
Accelerometer values are saturated.
Default Value: False
Default Rates: CAN: 4.0 Hz
StatusSignal< bool > & ctre::phoenix6::hardware::core::CorePigeon2::GetStickyFault_SaturatedGyroscope | ( | ) |
Gyroscope values are saturated.
Default Value: False
Default Rates: CAN: 4.0 Hz
StatusSignal< bool > & ctre::phoenix6::hardware::core::CorePigeon2::GetStickyFault_SaturatedMagnetometer | ( | ) |
Magnetometer values are saturated.
Default Value: False
Default Rates: CAN: 4.0 Hz
StatusSignal< bool > & ctre::phoenix6::hardware::core::CorePigeon2::GetStickyFault_Undervoltage | ( | ) |
Device supply voltage dropped to near brownout levels.
Default Value: False
Default Rates: CAN: 4.0 Hz
StatusSignal< bool > & ctre::phoenix6::hardware::core::CorePigeon2::GetStickyFault_UnlicensedFeatureInUse | ( | ) |
An unlicensed feature is in use, device may not behave as expected.
Default Value: False
Default Rates: CAN: 4.0 Hz
StatusSignal< int > & ctre::phoenix6::hardware::core::CorePigeon2::GetStickyFaultField | ( | ) |
Integer representing all sticky faults.
This returns the persistent "sticky" fault flags reported by the device. These are device specific and are not used directly in typical applications. Use the signal specific GetStickyFault_*() methods instead.
Minimum Value: 0 Maximum Value: 16777215 Default Value: 0 Units:
Default Rates: CAN: 4.0 Hz
StatusSignal< units::voltage::volt_t > & ctre::phoenix6::hardware::core::CorePigeon2::GetSupplyVoltage | ( | ) |
Measured supply voltage to the Pigeon2.
Minimum Value: 0.0 Maximum Value: 31.99951171875 Default Value: 0 Units: V
Default Rates: CAN 2.0: 4.0 Hz CAN FD: 100.0 Hz (TimeSynced with Pro)
StatusSignal< units::temperature::celsius_t > & ctre::phoenix6::hardware::core::CorePigeon2::GetTemperature | ( | ) |
Temperature of the Pigeon 2.
Minimum Value: -128.0 Maximum Value: 127.99609375 Default Value: 0 Units: ℃
Default Rates: CAN 2.0: 4.0 Hz CAN FD: 100.0 Hz (TimeSynced with Pro)
StatusSignal< bool > & ctre::phoenix6::hardware::core::CorePigeon2::GetTemperatureCompensationDisabled | ( | ) |
Whether the temperature-compensation feature is disabled.
Default Value: 0
Default Rates: CAN 2.0: 4.0 Hz CAN FD: 100.0 Hz (TimeSynced with Pro)
StatusSignal< units::time::second_t > & ctre::phoenix6::hardware::core::CorePigeon2::GetUpTime | ( | ) |
How long the Pigeon 2's been up in seconds, caps at 255 seconds.
Minimum Value: 0 Maximum Value: 255 Default Value: 0 Units: s
Default Rates: CAN 2.0: 4.0 Hz CAN FD: 100.0 Hz (TimeSynced with Pro)
StatusSignal< int > & ctre::phoenix6::hardware::core::CorePigeon2::GetVersion | ( | ) |
Full Version.
The format is a four byte value.
Full Version of firmware in device. The format is a four byte value.
Minimum Value: 0 Maximum Value: 4294967295 Default Value: 0 Units:
Default Rates: CAN: 4.0 Hz
StatusSignal< int > & ctre::phoenix6::hardware::core::CorePigeon2::GetVersionBugfix | ( | ) |
App Bugfix Version number.
Minimum Value: 0 Maximum Value: 255 Default Value: 0 Units:
Default Rates: CAN: 4.0 Hz
StatusSignal< int > & ctre::phoenix6::hardware::core::CorePigeon2::GetVersionBuild | ( | ) |
App Build Version number.
Minimum Value: 0 Maximum Value: 255 Default Value: 0 Units:
Default Rates: CAN: 4.0 Hz
StatusSignal< int > & ctre::phoenix6::hardware::core::CorePigeon2::GetVersionMajor | ( | ) |
App Major Version number.
Minimum Value: 0 Maximum Value: 255 Default Value: 0 Units:
Default Rates: CAN: 4.0 Hz
StatusSignal< int > & ctre::phoenix6::hardware::core::CorePigeon2::GetVersionMinor | ( | ) |
App Minor Version number.
Minimum Value: 0 Maximum Value: 255 Default Value: 0 Units:
Default Rates: CAN: 4.0 Hz
StatusSignal< units::angle::degree_t > & ctre::phoenix6::hardware::core::CorePigeon2::GetYaw | ( | ) |
Current reported yaw of the Pigeon2.
Minimum Value: -368640.0 Maximum Value: 368639.99725341797 Default Value: 0 Units: deg
Default Rates: CAN 2.0: 100.0 Hz CAN FD: 100.0 Hz (TimeSynced with Pro)
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Control motor with generic control request object.
User must make sure the specified object is castable to a valid control request, otherwise this function will fail at run-time and return the corresponding StatusCode
request | Control object to request of the device |
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Control motor with generic control request object.
User must make sure the specified object is castable to a valid control request, otherwise this function will fail at run-time and return the NotSupported StatusCode
request | Control object to request of the device |
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The yaw to set the Pigeon2 to right now.
This will wait up to 0.050 seconds (50ms) by default.
newValue | Value to set to. Units are in deg. |
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The yaw to set the Pigeon2 to right now.
newValue | Value to set to. Units are in deg. |
timeoutSeconds | Maximum time to wait up to in seconds. |