CTRE Phoenix 6 C++ 24.50.0-alpha-2
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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 (int deviceId, CANBus canbus) | |
Constructs a new Pigeon 2 sensor object. More... | |
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 (bool refresh=true) |
App Major Version number. More... | |
StatusSignal< int > & | GetVersionMinor (bool refresh=true) |
App Minor Version number. More... | |
StatusSignal< int > & | GetVersionBugfix (bool refresh=true) |
App Bugfix Version number. More... | |
StatusSignal< int > & | GetVersionBuild (bool refresh=true) |
App Build Version number. More... | |
StatusSignal< int > & | GetVersion (bool refresh=true) |
Full Version. More... | |
StatusSignal< int > & | GetFaultField (bool refresh=true) |
Integer representing all faults. More... | |
StatusSignal< int > & | GetStickyFaultField (bool refresh=true) |
Integer representing all sticky faults. More... | |
StatusSignal< units::angle::degree_t > & | GetYaw (bool refresh=true) |
Current reported yaw of the Pigeon2. More... | |
StatusSignal< units::angle::degree_t > & | GetPitch (bool refresh=true) |
Current reported pitch of the Pigeon2. More... | |
StatusSignal< units::angle::degree_t > & | GetRoll (bool refresh=true) |
Current reported roll of the Pigeon2. More... | |
StatusSignal< units::dimensionless::scalar_t > & | GetQuatW (bool refresh=true) |
The W component of the reported Quaternion. More... | |
StatusSignal< units::dimensionless::scalar_t > & | GetQuatX (bool refresh=true) |
The X component of the reported Quaternion. More... | |
StatusSignal< units::dimensionless::scalar_t > & | GetQuatY (bool refresh=true) |
The Y component of the reported Quaternion. More... | |
StatusSignal< units::dimensionless::scalar_t > & | GetQuatZ (bool refresh=true) |
The Z component of the reported Quaternion. More... | |
StatusSignal< units::dimensionless::scalar_t > & | GetGravityVectorX (bool refresh=true) |
The X component of the gravity vector. More... | |
StatusSignal< units::dimensionless::scalar_t > & | GetGravityVectorY (bool refresh=true) |
The Y component of the gravity vector. More... | |
StatusSignal< units::dimensionless::scalar_t > & | GetGravityVectorZ (bool refresh=true) |
The Z component of the gravity vector. More... | |
StatusSignal< units::temperature::celsius_t > & | GetTemperature (bool refresh=true) |
Temperature of the Pigeon 2. More... | |
StatusSignal< bool > & | GetNoMotionEnabled (bool refresh=true) |
Whether the no-motion calibration feature is enabled. More... | |
StatusSignal< units::dimensionless::scalar_t > & | GetNoMotionCount (bool refresh=true) |
The number of times a no-motion event occurred, wraps at 15. More... | |
StatusSignal< bool > & | GetTemperatureCompensationDisabled (bool refresh=true) |
Whether the temperature-compensation feature is disabled. More... | |
StatusSignal< units::time::second_t > & | GetUpTime (bool refresh=true) |
How long the Pigeon 2's been up in seconds, caps at 255 seconds. More... | |
StatusSignal< units::angle::degree_t > & | GetAccumGyroX (bool refresh=true) |
The accumulated gyro about the X axis without any sensor fusing. More... | |
StatusSignal< units::angle::degree_t > & | GetAccumGyroY (bool refresh=true) |
The accumulated gyro about the Y axis without any sensor fusing. More... | |
StatusSignal< units::angle::degree_t > & | GetAccumGyroZ (bool refresh=true) |
The accumulated gyro about the Z axis without any sensor fusing. More... | |
StatusSignal< units::angular_velocity::degrees_per_second_t > & | GetAngularVelocityXWorld (bool refresh=true) |
Angular Velocity world X. More... | |
StatusSignal< units::angular_velocity::degrees_per_second_t > & | GetAngularVelocityYWorld (bool refresh=true) |
Angular Velocity Quaternion Y Component. More... | |
StatusSignal< units::angular_velocity::degrees_per_second_t > & | GetAngularVelocityZWorld (bool refresh=true) |
Angular Velocity Quaternion Z Component. More... | |
StatusSignal< units::acceleration::standard_gravity_t > & | GetAccelerationX (bool refresh=true) |
The acceleration measured by Pigeon2 in the X direction. More... | |
StatusSignal< units::acceleration::standard_gravity_t > & | GetAccelerationY (bool refresh=true) |
The acceleration measured by Pigeon2 in the Y direction. More... | |
StatusSignal< units::acceleration::standard_gravity_t > & | GetAccelerationZ (bool refresh=true) |
The acceleration measured by Pigeon2 in the Z direction. More... | |
StatusSignal< units::voltage::volt_t > & | GetSupplyVoltage (bool refresh=true) |
Measured supply voltage to the Pigeon2. More... | |
StatusSignal< units::angular_velocity::degrees_per_second_t > & | GetAngularVelocityXDevice (bool refresh=true) |
The angular velocity (ω) of the Pigeon 2 about the device's X axis. More... | |
StatusSignal< units::angular_velocity::degrees_per_second_t > & | GetAngularVelocityYDevice (bool refresh=true) |
The angular velocity (ω) of the Pigeon 2 about the device's Y axis. More... | |
StatusSignal< units::angular_velocity::degrees_per_second_t > & | GetAngularVelocityZDevice (bool refresh=true) |
The angular velocity (ω) of the Pigeon 2 about the device's Z axis. More... | |
StatusSignal< units::magnetic_field_strength::microtesla_t > & | GetMagneticFieldX (bool refresh=true) |
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 (bool refresh=true) |
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 (bool refresh=true) |
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 (bool refresh=true) |
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 (bool refresh=true) |
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 (bool refresh=true) |
The raw magnitude of the magnetic field measured by the Pigeon 2 in the Z direction. More... | |
StatusSignal< bool > & | GetIsProLicensed (bool refresh=true) |
Whether the device is Phoenix Pro licensed. More... | |
StatusSignal< bool > & | GetFault_Hardware (bool refresh=true) |
Hardware fault occurred. More... | |
StatusSignal< bool > & | GetStickyFault_Hardware (bool refresh=true) |
Hardware fault occurred. More... | |
StatusSignal< bool > & | GetFault_Undervoltage (bool refresh=true) |
Device supply voltage dropped to near brownout levels. More... | |
StatusSignal< bool > & | GetStickyFault_Undervoltage (bool refresh=true) |
Device supply voltage dropped to near brownout levels. More... | |
StatusSignal< bool > & | GetFault_BootDuringEnable (bool refresh=true) |
Device boot while detecting the enable signal. More... | |
StatusSignal< bool > & | GetStickyFault_BootDuringEnable (bool refresh=true) |
Device boot while detecting the enable signal. More... | |
StatusSignal< bool > & | GetFault_UnlicensedFeatureInUse (bool refresh=true) |
An unlicensed feature is in use, device may not behave as expected. More... | |
StatusSignal< bool > & | GetStickyFault_UnlicensedFeatureInUse (bool refresh=true) |
An unlicensed feature is in use, device may not behave as expected. More... | |
StatusSignal< bool > & | GetFault_BootupAccelerometer (bool refresh=true) |
Bootup checks failed: Accelerometer. More... | |
StatusSignal< bool > & | GetStickyFault_BootupAccelerometer (bool refresh=true) |
Bootup checks failed: Accelerometer. More... | |
StatusSignal< bool > & | GetFault_BootupGyroscope (bool refresh=true) |
Bootup checks failed: Gyroscope. More... | |
StatusSignal< bool > & | GetStickyFault_BootupGyroscope (bool refresh=true) |
Bootup checks failed: Gyroscope. More... | |
StatusSignal< bool > & | GetFault_BootupMagnetometer (bool refresh=true) |
Bootup checks failed: Magnetometer. More... | |
StatusSignal< bool > & | GetStickyFault_BootupMagnetometer (bool refresh=true) |
Bootup checks failed: Magnetometer. More... | |
StatusSignal< bool > & | GetFault_BootIntoMotion (bool refresh=true) |
Motion Detected during bootup. More... | |
StatusSignal< bool > & | GetStickyFault_BootIntoMotion (bool refresh=true) |
Motion Detected during bootup. More... | |
StatusSignal< bool > & | GetFault_DataAcquiredLate (bool refresh=true) |
Motion stack data acquisition was slower than expected. More... | |
StatusSignal< bool > & | GetStickyFault_DataAcquiredLate (bool refresh=true) |
Motion stack data acquisition was slower than expected. More... | |
StatusSignal< bool > & | GetFault_LoopTimeSlow (bool refresh=true) |
Motion stack loop time was slower than expected. More... | |
StatusSignal< bool > & | GetStickyFault_LoopTimeSlow (bool refresh=true) |
Motion stack loop time was slower than expected. More... | |
StatusSignal< bool > & | GetFault_SaturatedMagnetometer (bool refresh=true) |
Magnetometer values are saturated. More... | |
StatusSignal< bool > & | GetStickyFault_SaturatedMagnetometer (bool refresh=true) |
Magnetometer values are saturated. More... | |
StatusSignal< bool > & | GetFault_SaturatedAccelerometer (bool refresh=true) |
Accelerometer values are saturated. More... | |
StatusSignal< bool > & | GetStickyFault_SaturatedAccelerometer (bool refresh=true) |
Accelerometer values are saturated. More... | |
StatusSignal< bool > & | GetFault_SaturatedGyroscope (bool refresh=true) |
Gyroscope values are saturated. More... | |
StatusSignal< bool > & | GetStickyFault_SaturatedGyroscope (bool refresh=true) |
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 |
ParentDevice (ParentDevice const &)=delete | |
ParentDevice & | operator= (ParentDevice const &)=delete |
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, bool refresh=true) |
This is a reserved routine for internal testing. More... | |
ctre::phoenix::StatusCode | OptimizeBusUtilization (units::frequency::hertz_t optimizedFreqHz=0_Hz, units::time::second_t timeoutSeconds=100_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... | |
template<typename... Devices, typename = std::enable_if_t<is_all_device_v<Devices...>>> | |
static ctre::phoenix::StatusCode | OptimizeBusUtilizationForAll (units::frequency::hertz_t optimizedFreqHz, 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 (units::frequency::hertz_t optimizedFreqHz, 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 (units::frequency::hertz_t optimizedFreqHz, 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, bool refresh) |
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, bool refresh) |
template<typename T , typename U > | |
StatusSignal< T > | LookupDimensionlessStatusSignal (uint16_t spn, std::string signalName, bool refresh) |
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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Constructs a new Pigeon 2 sensor object.
deviceId | ID of the device, as configured in Phoenix Tuner. |
canbus | The CAN bus this device is on. |
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Clear sticky fault: Device boot while detecting the enable signal.
This will wait up to 0.100 seconds (100ms) 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 0.100 seconds (100ms) 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 0.100 seconds (100ms) 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 0.100 seconds (100ms) 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 0.100 seconds (100ms) 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 0.100 seconds (100ms) 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 0.100 seconds (100ms) 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 0.100 seconds (100ms) 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 0.100 seconds (100ms) 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 0.100 seconds (100ms) 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 0.100 seconds (100ms) 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 0.100 seconds (100ms) 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 0.100 seconds (100ms) 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 | ( | bool | refresh = true | ) |
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.
Default Rates:
This refreshes and returns a cached StatusSignal object.
refresh | Whether to refresh the StatusSignal before returning it; defaults to true |
StatusSignal< units::acceleration::standard_gravity_t > & ctre::phoenix6::hardware::core::CorePigeon2::GetAccelerationY | ( | bool | refresh = true | ) |
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.
Default Rates:
This refreshes and returns a cached StatusSignal object.
refresh | Whether to refresh the StatusSignal before returning it; defaults to true |
StatusSignal< units::acceleration::standard_gravity_t > & ctre::phoenix6::hardware::core::CorePigeon2::GetAccelerationZ | ( | bool | refresh = true | ) |
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.
Default Rates:
This refreshes and returns a cached StatusSignal object.
refresh | Whether to refresh the StatusSignal before returning it; defaults to true |
StatusSignal< units::angle::degree_t > & ctre::phoenix6::hardware::core::CorePigeon2::GetAccumGyroX | ( | bool | refresh = true | ) |
The accumulated gyro about the X axis without any sensor fusing.
Default Rates:
This refreshes and returns a cached StatusSignal object.
refresh | Whether to refresh the StatusSignal before returning it; defaults to true |
StatusSignal< units::angle::degree_t > & ctre::phoenix6::hardware::core::CorePigeon2::GetAccumGyroY | ( | bool | refresh = true | ) |
The accumulated gyro about the Y axis without any sensor fusing.
Default Rates:
This refreshes and returns a cached StatusSignal object.
refresh | Whether to refresh the StatusSignal before returning it; defaults to true |
StatusSignal< units::angle::degree_t > & ctre::phoenix6::hardware::core::CorePigeon2::GetAccumGyroZ | ( | bool | refresh = true | ) |
The accumulated gyro about the Z axis without any sensor fusing.
Default Rates:
This refreshes and returns a cached StatusSignal object.
refresh | Whether to refresh the StatusSignal before returning it; defaults to true |
StatusSignal< units::angular_velocity::degrees_per_second_t > & ctre::phoenix6::hardware::core::CorePigeon2::GetAngularVelocityXDevice | ( | bool | refresh = true | ) |
The angular velocity (ω) of the Pigeon 2 about the device's X axis.
This value is not mount-calibrated
Default Rates:
This refreshes and returns a cached StatusSignal object.
refresh | Whether to refresh the StatusSignal before returning it; defaults to true |
StatusSignal< units::angular_velocity::degrees_per_second_t > & ctre::phoenix6::hardware::core::CorePigeon2::GetAngularVelocityXWorld | ( | bool | refresh = true | ) |
Angular Velocity world X.
This is the X component of the angular velocity with respect to the world frame and is mount-calibrated.
Default Rates:
This refreshes and returns a cached StatusSignal object.
refresh | Whether to refresh the StatusSignal before returning it; defaults to true |
StatusSignal< units::angular_velocity::degrees_per_second_t > & ctre::phoenix6::hardware::core::CorePigeon2::GetAngularVelocityYDevice | ( | bool | refresh = true | ) |
The angular velocity (ω) of the Pigeon 2 about the device's Y axis.
This value is not mount-calibrated
Default Rates:
This refreshes and returns a cached StatusSignal object.
refresh | Whether to refresh the StatusSignal before returning it; defaults to true |
StatusSignal< units::angular_velocity::degrees_per_second_t > & ctre::phoenix6::hardware::core::CorePigeon2::GetAngularVelocityYWorld | ( | bool | refresh = true | ) |
Angular Velocity Quaternion Y Component.
This is the Y component of the angular velocity with respect to the world frame and is mount-calibrated.
Default Rates:
This refreshes and returns a cached StatusSignal object.
refresh | Whether to refresh the StatusSignal before returning it; defaults to true |
StatusSignal< units::angular_velocity::degrees_per_second_t > & ctre::phoenix6::hardware::core::CorePigeon2::GetAngularVelocityZDevice | ( | bool | refresh = true | ) |
The angular velocity (ω) of the Pigeon 2 about the device's Z axis.
This value is not mount-calibrated
Default Rates:
This refreshes and returns a cached StatusSignal object.
refresh | Whether to refresh the StatusSignal before returning it; defaults to true |
StatusSignal< units::angular_velocity::degrees_per_second_t > & ctre::phoenix6::hardware::core::CorePigeon2::GetAngularVelocityZWorld | ( | bool | refresh = true | ) |
Angular Velocity Quaternion Z Component.
This is the Z component of the angular velocity with respect to the world frame and is mount-calibrated.
Default Rates:
This refreshes and returns a cached StatusSignal object.
refresh | Whether to refresh the StatusSignal before returning it; defaults to true |
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StatusSignal< bool > & ctre::phoenix6::hardware::core::CorePigeon2::GetFault_BootDuringEnable | ( | bool | refresh = true | ) |
Device boot while detecting the enable signal.
Default Rates:
This refreshes and returns a cached StatusSignal object.
refresh | Whether to refresh the StatusSignal before returning it; defaults to true |
StatusSignal< bool > & ctre::phoenix6::hardware::core::CorePigeon2::GetFault_BootIntoMotion | ( | bool | refresh = true | ) |
Motion Detected during bootup.
Default Rates:
This refreshes and returns a cached StatusSignal object.
refresh | Whether to refresh the StatusSignal before returning it; defaults to true |
StatusSignal< bool > & ctre::phoenix6::hardware::core::CorePigeon2::GetFault_BootupAccelerometer | ( | bool | refresh = true | ) |
Bootup checks failed: Accelerometer.
Default Rates:
This refreshes and returns a cached StatusSignal object.
refresh | Whether to refresh the StatusSignal before returning it; defaults to true |
StatusSignal< bool > & ctre::phoenix6::hardware::core::CorePigeon2::GetFault_BootupGyroscope | ( | bool | refresh = true | ) |
Bootup checks failed: Gyroscope.
Default Rates:
This refreshes and returns a cached StatusSignal object.
refresh | Whether to refresh the StatusSignal before returning it; defaults to true |
StatusSignal< bool > & ctre::phoenix6::hardware::core::CorePigeon2::GetFault_BootupMagnetometer | ( | bool | refresh = true | ) |
Bootup checks failed: Magnetometer.
Default Rates:
This refreshes and returns a cached StatusSignal object.
refresh | Whether to refresh the StatusSignal before returning it; defaults to true |
StatusSignal< bool > & ctre::phoenix6::hardware::core::CorePigeon2::GetFault_DataAcquiredLate | ( | bool | refresh = true | ) |
Motion stack data acquisition was slower than expected.
Default Rates:
This refreshes and returns a cached StatusSignal object.
refresh | Whether to refresh the StatusSignal before returning it; defaults to true |
StatusSignal< bool > & ctre::phoenix6::hardware::core::CorePigeon2::GetFault_Hardware | ( | bool | refresh = true | ) |
Hardware fault occurred.
Default Rates:
This refreshes and returns a cached StatusSignal object.
refresh | Whether to refresh the StatusSignal before returning it; defaults to true |
StatusSignal< bool > & ctre::phoenix6::hardware::core::CorePigeon2::GetFault_LoopTimeSlow | ( | bool | refresh = true | ) |
Motion stack loop time was slower than expected.
Default Rates:
This refreshes and returns a cached StatusSignal object.
refresh | Whether to refresh the StatusSignal before returning it; defaults to true |
StatusSignal< bool > & ctre::phoenix6::hardware::core::CorePigeon2::GetFault_SaturatedAccelerometer | ( | bool | refresh = true | ) |
Accelerometer values are saturated.
Default Rates:
This refreshes and returns a cached StatusSignal object.
refresh | Whether to refresh the StatusSignal before returning it; defaults to true |
StatusSignal< bool > & ctre::phoenix6::hardware::core::CorePigeon2::GetFault_SaturatedGyroscope | ( | bool | refresh = true | ) |
Gyroscope values are saturated.
Default Rates:
This refreshes and returns a cached StatusSignal object.
refresh | Whether to refresh the StatusSignal before returning it; defaults to true |
StatusSignal< bool > & ctre::phoenix6::hardware::core::CorePigeon2::GetFault_SaturatedMagnetometer | ( | bool | refresh = true | ) |
Magnetometer values are saturated.
Default Rates:
This refreshes and returns a cached StatusSignal object.
refresh | Whether to refresh the StatusSignal before returning it; defaults to true |
StatusSignal< bool > & ctre::phoenix6::hardware::core::CorePigeon2::GetFault_Undervoltage | ( | bool | refresh = true | ) |
Device supply voltage dropped to near brownout levels.
Default Rates:
This refreshes and returns a cached StatusSignal object.
refresh | Whether to refresh the StatusSignal before returning it; defaults to true |
StatusSignal< bool > & ctre::phoenix6::hardware::core::CorePigeon2::GetFault_UnlicensedFeatureInUse | ( | bool | refresh = true | ) |
An unlicensed feature is in use, device may not behave as expected.
Default Rates:
This refreshes and returns a cached StatusSignal object.
refresh | Whether to refresh the StatusSignal before returning it; defaults to true |
StatusSignal< int > & ctre::phoenix6::hardware::core::CorePigeon2::GetFaultField | ( | bool | refresh = true | ) |
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.
Default Rates:
This refreshes and returns a cached StatusSignal object.
refresh | Whether to refresh the StatusSignal before returning it; defaults to true |
StatusSignal< units::dimensionless::scalar_t > & ctre::phoenix6::hardware::core::CorePigeon2::GetGravityVectorX | ( | bool | refresh = true | ) |
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.
Default Rates:
This refreshes and returns a cached StatusSignal object.
refresh | Whether to refresh the StatusSignal before returning it; defaults to true |
StatusSignal< units::dimensionless::scalar_t > & ctre::phoenix6::hardware::core::CorePigeon2::GetGravityVectorY | ( | bool | refresh = true | ) |
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.
Default Rates:
This refreshes and returns a cached StatusSignal object.
refresh | Whether to refresh the StatusSignal before returning it; defaults to true |
StatusSignal< units::dimensionless::scalar_t > & ctre::phoenix6::hardware::core::CorePigeon2::GetGravityVectorZ | ( | bool | refresh = true | ) |
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.
Default Rates:
This refreshes and returns a cached StatusSignal object.
refresh | Whether to refresh the StatusSignal before returning it; defaults to true |
StatusSignal< bool > & ctre::phoenix6::hardware::core::CorePigeon2::GetIsProLicensed | ( | bool | refresh = true | ) |
Whether the device is Phoenix Pro licensed.
Default Rates:
This refreshes and returns a cached StatusSignal object.
refresh | Whether to refresh the StatusSignal before returning it; defaults to true |
StatusSignal< units::magnetic_field_strength::microtesla_t > & ctre::phoenix6::hardware::core::CorePigeon2::GetMagneticFieldX | ( | bool | refresh = true | ) |
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.
Default Rates:
This refreshes and returns a cached StatusSignal object.
refresh | Whether to refresh the StatusSignal before returning it; defaults to true |
StatusSignal< units::magnetic_field_strength::microtesla_t > & ctre::phoenix6::hardware::core::CorePigeon2::GetMagneticFieldY | ( | bool | refresh = true | ) |
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.
Default Rates:
This refreshes and returns a cached StatusSignal object.
refresh | Whether to refresh the StatusSignal before returning it; defaults to true |
StatusSignal< units::magnetic_field_strength::microtesla_t > & ctre::phoenix6::hardware::core::CorePigeon2::GetMagneticFieldZ | ( | bool | refresh = true | ) |
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.
Default Rates:
This refreshes and returns a cached StatusSignal object.
refresh | Whether to refresh the StatusSignal before returning it; defaults to true |
StatusSignal< units::dimensionless::scalar_t > & ctre::phoenix6::hardware::core::CorePigeon2::GetNoMotionCount | ( | bool | refresh = true | ) |
The number of times a no-motion event occurred, wraps at 15.
Default Rates:
This refreshes and returns a cached StatusSignal object.
refresh | Whether to refresh the StatusSignal before returning it; defaults to true |
StatusSignal< bool > & ctre::phoenix6::hardware::core::CorePigeon2::GetNoMotionEnabled | ( | bool | refresh = true | ) |
Whether the no-motion calibration feature is enabled.
Default Rates:
This refreshes and returns a cached StatusSignal object.
refresh | Whether to refresh the StatusSignal before returning it; defaults to true |
StatusSignal< units::angle::degree_t > & ctre::phoenix6::hardware::core::CorePigeon2::GetPitch | ( | bool | refresh = true | ) |
Current reported pitch of the Pigeon2.
Default Rates:
This refreshes and returns a cached StatusSignal object.
refresh | Whether to refresh the StatusSignal before returning it; defaults to true |
StatusSignal< units::dimensionless::scalar_t > & ctre::phoenix6::hardware::core::CorePigeon2::GetQuatW | ( | bool | refresh = true | ) |
The W component of the reported Quaternion.
Default Rates:
This refreshes and returns a cached StatusSignal object.
refresh | Whether to refresh the StatusSignal before returning it; defaults to true |
StatusSignal< units::dimensionless::scalar_t > & ctre::phoenix6::hardware::core::CorePigeon2::GetQuatX | ( | bool | refresh = true | ) |
The X component of the reported Quaternion.
Default Rates:
This refreshes and returns a cached StatusSignal object.
refresh | Whether to refresh the StatusSignal before returning it; defaults to true |
StatusSignal< units::dimensionless::scalar_t > & ctre::phoenix6::hardware::core::CorePigeon2::GetQuatY | ( | bool | refresh = true | ) |
The Y component of the reported Quaternion.
Default Rates:
This refreshes and returns a cached StatusSignal object.
refresh | Whether to refresh the StatusSignal before returning it; defaults to true |
StatusSignal< units::dimensionless::scalar_t > & ctre::phoenix6::hardware::core::CorePigeon2::GetQuatZ | ( | bool | refresh = true | ) |
The Z component of the reported Quaternion.
Default Rates:
This refreshes and returns a cached StatusSignal object.
refresh | Whether to refresh the StatusSignal before returning it; defaults to true |
StatusSignal< units::magnetic_field_strength::microtesla_t > & ctre::phoenix6::hardware::core::CorePigeon2::GetRawMagneticFieldX | ( | bool | refresh = true | ) |
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.
Default Rates:
This refreshes and returns a cached StatusSignal object.
refresh | Whether to refresh the StatusSignal before returning it; defaults to true |
StatusSignal< units::magnetic_field_strength::microtesla_t > & ctre::phoenix6::hardware::core::CorePigeon2::GetRawMagneticFieldY | ( | bool | refresh = true | ) |
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.
Default Rates:
This refreshes and returns a cached StatusSignal object.
refresh | Whether to refresh the StatusSignal before returning it; defaults to true |
StatusSignal< units::magnetic_field_strength::microtesla_t > & ctre::phoenix6::hardware::core::CorePigeon2::GetRawMagneticFieldZ | ( | bool | refresh = true | ) |
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.
Default Rates:
This refreshes and returns a cached StatusSignal object.
refresh | Whether to refresh the StatusSignal before returning it; defaults to true |
StatusSignal< units::angle::degree_t > & ctre::phoenix6::hardware::core::CorePigeon2::GetRoll | ( | bool | refresh = true | ) |
Current reported roll of the Pigeon2.
Default Rates:
This refreshes and returns a cached StatusSignal object.
refresh | Whether to refresh the StatusSignal before returning it; defaults to true |
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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 | ( | bool | refresh = true | ) |
Device boot while detecting the enable signal.
Default Rates:
This refreshes and returns a cached StatusSignal object.
refresh | Whether to refresh the StatusSignal before returning it; defaults to true |
StatusSignal< bool > & ctre::phoenix6::hardware::core::CorePigeon2::GetStickyFault_BootIntoMotion | ( | bool | refresh = true | ) |
Motion Detected during bootup.
Default Rates:
This refreshes and returns a cached StatusSignal object.
refresh | Whether to refresh the StatusSignal before returning it; defaults to true |
StatusSignal< bool > & ctre::phoenix6::hardware::core::CorePigeon2::GetStickyFault_BootupAccelerometer | ( | bool | refresh = true | ) |
Bootup checks failed: Accelerometer.
Default Rates:
This refreshes and returns a cached StatusSignal object.
refresh | Whether to refresh the StatusSignal before returning it; defaults to true |
StatusSignal< bool > & ctre::phoenix6::hardware::core::CorePigeon2::GetStickyFault_BootupGyroscope | ( | bool | refresh = true | ) |
Bootup checks failed: Gyroscope.
Default Rates:
This refreshes and returns a cached StatusSignal object.
refresh | Whether to refresh the StatusSignal before returning it; defaults to true |
StatusSignal< bool > & ctre::phoenix6::hardware::core::CorePigeon2::GetStickyFault_BootupMagnetometer | ( | bool | refresh = true | ) |
Bootup checks failed: Magnetometer.
Default Rates:
This refreshes and returns a cached StatusSignal object.
refresh | Whether to refresh the StatusSignal before returning it; defaults to true |
StatusSignal< bool > & ctre::phoenix6::hardware::core::CorePigeon2::GetStickyFault_DataAcquiredLate | ( | bool | refresh = true | ) |
Motion stack data acquisition was slower than expected.
Default Rates:
This refreshes and returns a cached StatusSignal object.
refresh | Whether to refresh the StatusSignal before returning it; defaults to true |
StatusSignal< bool > & ctre::phoenix6::hardware::core::CorePigeon2::GetStickyFault_Hardware | ( | bool | refresh = true | ) |
Hardware fault occurred.
Default Rates:
This refreshes and returns a cached StatusSignal object.
refresh | Whether to refresh the StatusSignal before returning it; defaults to true |
StatusSignal< bool > & ctre::phoenix6::hardware::core::CorePigeon2::GetStickyFault_LoopTimeSlow | ( | bool | refresh = true | ) |
Motion stack loop time was slower than expected.
Default Rates:
This refreshes and returns a cached StatusSignal object.
refresh | Whether to refresh the StatusSignal before returning it; defaults to true |
StatusSignal< bool > & ctre::phoenix6::hardware::core::CorePigeon2::GetStickyFault_SaturatedAccelerometer | ( | bool | refresh = true | ) |
Accelerometer values are saturated.
Default Rates:
This refreshes and returns a cached StatusSignal object.
refresh | Whether to refresh the StatusSignal before returning it; defaults to true |
StatusSignal< bool > & ctre::phoenix6::hardware::core::CorePigeon2::GetStickyFault_SaturatedGyroscope | ( | bool | refresh = true | ) |
Gyroscope values are saturated.
Default Rates:
This refreshes and returns a cached StatusSignal object.
refresh | Whether to refresh the StatusSignal before returning it; defaults to true |
StatusSignal< bool > & ctre::phoenix6::hardware::core::CorePigeon2::GetStickyFault_SaturatedMagnetometer | ( | bool | refresh = true | ) |
Magnetometer values are saturated.
Default Rates:
This refreshes and returns a cached StatusSignal object.
refresh | Whether to refresh the StatusSignal before returning it; defaults to true |
StatusSignal< bool > & ctre::phoenix6::hardware::core::CorePigeon2::GetStickyFault_Undervoltage | ( | bool | refresh = true | ) |
Device supply voltage dropped to near brownout levels.
Default Rates:
This refreshes and returns a cached StatusSignal object.
refresh | Whether to refresh the StatusSignal before returning it; defaults to true |
StatusSignal< bool > & ctre::phoenix6::hardware::core::CorePigeon2::GetStickyFault_UnlicensedFeatureInUse | ( | bool | refresh = true | ) |
An unlicensed feature is in use, device may not behave as expected.
Default Rates:
This refreshes and returns a cached StatusSignal object.
refresh | Whether to refresh the StatusSignal before returning it; defaults to true |
StatusSignal< int > & ctre::phoenix6::hardware::core::CorePigeon2::GetStickyFaultField | ( | bool | refresh = true | ) |
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.
Default Rates:
This refreshes and returns a cached StatusSignal object.
refresh | Whether to refresh the StatusSignal before returning it; defaults to true |
StatusSignal< units::voltage::volt_t > & ctre::phoenix6::hardware::core::CorePigeon2::GetSupplyVoltage | ( | bool | refresh = true | ) |
Measured supply voltage to the Pigeon2.
Default Rates:
This refreshes and returns a cached StatusSignal object.
refresh | Whether to refresh the StatusSignal before returning it; defaults to true |
StatusSignal< units::temperature::celsius_t > & ctre::phoenix6::hardware::core::CorePigeon2::GetTemperature | ( | bool | refresh = true | ) |
Temperature of the Pigeon 2.
Default Rates:
This refreshes and returns a cached StatusSignal object.
refresh | Whether to refresh the StatusSignal before returning it; defaults to true |
StatusSignal< bool > & ctre::phoenix6::hardware::core::CorePigeon2::GetTemperatureCompensationDisabled | ( | bool | refresh = true | ) |
Whether the temperature-compensation feature is disabled.
Default Rates:
This refreshes and returns a cached StatusSignal object.
refresh | Whether to refresh the StatusSignal before returning it; defaults to true |
StatusSignal< units::time::second_t > & ctre::phoenix6::hardware::core::CorePigeon2::GetUpTime | ( | bool | refresh = true | ) |
How long the Pigeon 2's been up in seconds, caps at 255 seconds.
Default Rates:
This refreshes and returns a cached StatusSignal object.
refresh | Whether to refresh the StatusSignal before returning it; defaults to true |
StatusSignal< int > & ctre::phoenix6::hardware::core::CorePigeon2::GetVersion | ( | bool | refresh = true | ) |
Full Version.
The format is a four byte value.
Full Version of firmware in device. The format is a four byte value.
Default Rates:
This refreshes and returns a cached StatusSignal object.
refresh | Whether to refresh the StatusSignal before returning it; defaults to true |
StatusSignal< int > & ctre::phoenix6::hardware::core::CorePigeon2::GetVersionBugfix | ( | bool | refresh = true | ) |
App Bugfix Version number.
Default Rates:
This refreshes and returns a cached StatusSignal object.
refresh | Whether to refresh the StatusSignal before returning it; defaults to true |
StatusSignal< int > & ctre::phoenix6::hardware::core::CorePigeon2::GetVersionBuild | ( | bool | refresh = true | ) |
App Build Version number.
Default Rates:
This refreshes and returns a cached StatusSignal object.
refresh | Whether to refresh the StatusSignal before returning it; defaults to true |
StatusSignal< int > & ctre::phoenix6::hardware::core::CorePigeon2::GetVersionMajor | ( | bool | refresh = true | ) |
App Major Version number.
Default Rates:
This refreshes and returns a cached StatusSignal object.
refresh | Whether to refresh the StatusSignal before returning it; defaults to true |
StatusSignal< int > & ctre::phoenix6::hardware::core::CorePigeon2::GetVersionMinor | ( | bool | refresh = true | ) |
App Minor Version number.
Default Rates:
This refreshes and returns a cached StatusSignal object.
refresh | Whether to refresh the StatusSignal before returning it; defaults to true |
StatusSignal< units::angle::degree_t > & ctre::phoenix6::hardware::core::CorePigeon2::GetYaw | ( | bool | refresh = true | ) |
Current reported yaw of the Pigeon2.
Default Rates:
This refreshes and returns a cached StatusSignal object.
refresh | Whether to refresh the StatusSignal before returning it; defaults to true |
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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 0.100 seconds (100ms) 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. |