Class MountPoseConfigs

java.lang.Object
com.ctre.phoenix6.configs.MountPoseConfigs
All Implemented Interfaces:
ParentConfiguration, Cloneable
public class MountPoseConfigs extends Object implements ParentConfiguration, Cloneable
Configs for Pigeon 2's Mount Pose configuration.

These configs allow the Pigeon2 to be mounted in whatever orientation that's desired and ensure the reported Yaw/Pitch/Roll is from the robot's reference.

  • Field Details

    • MountPoseYaw

      public double MountPoseYaw
      The mounting calibration yaw-component.
      • Minimum Value: -360
      • Maximum Value: 360
      • Default Value: 0
      • Units: deg

    • MountPosePitch

      public double MountPosePitch
      The mounting calibration pitch-component.
      • Minimum Value: -360
      • Maximum Value: 360
      • Default Value: 0
      • Units: deg

    • MountPoseRoll

      public double MountPoseRoll
      The mounting calibration roll-component.
      • Minimum Value: -360
      • Maximum Value: 360
      • Default Value: 0
      • Units: deg

  • Constructor Details

    • MountPoseConfigs

      public MountPoseConfigs()

  • Method Details

    • withMountPoseYaw

      public final MountPoseConfigs withMountPoseYaw(double newMountPoseYaw)
      Modifies this configuration's MountPoseYaw parameter and returns itself for method-chaining and easier to use config API.

      The mounting calibration yaw-component.

      • Minimum Value: -360
      • Maximum Value: 360
      • Default Value: 0
      • Units: deg
      Parameters:
      newMountPoseYaw - Parameter to modify
      Returns:
      Itself

    • withMountPoseYaw

      public final MountPoseConfigs withMountPoseYaw(Angle newMountPoseYaw)
      Modifies this configuration's MountPoseYaw parameter and returns itself for method-chaining and easier to use config API.

      The mounting calibration yaw-component.

      • Minimum Value: -360
      • Maximum Value: 360
      • Default Value: 0
      • Units: deg
      Parameters:
      newMountPoseYaw - Parameter to modify
      Returns:
      Itself

    • getMountPoseYawMeasure

      public final Angle getMountPoseYawMeasure()
      Helper method to get this configuration's MountPoseYaw parameter converted to a unit type. If not using the Java units library, MountPoseYaw can be accessed directly instead.

      The mounting calibration yaw-component.

      • Minimum Value: -360
      • Maximum Value: 360
      • Default Value: 0
      • Units: deg
      Returns:
      MountPoseYaw

    • withMountPosePitch

      public final MountPoseConfigs withMountPosePitch(double newMountPosePitch)
      Modifies this configuration's MountPosePitch parameter and returns itself for method-chaining and easier to use config API.

      The mounting calibration pitch-component.

      • Minimum Value: -360
      • Maximum Value: 360
      • Default Value: 0
      • Units: deg
      Parameters:
      newMountPosePitch - Parameter to modify
      Returns:
      Itself

    • withMountPosePitch

      public final MountPoseConfigs withMountPosePitch(Angle newMountPosePitch)
      Modifies this configuration's MountPosePitch parameter and returns itself for method-chaining and easier to use config API.

      The mounting calibration pitch-component.

      • Minimum Value: -360
      • Maximum Value: 360
      • Default Value: 0
      • Units: deg
      Parameters:
      newMountPosePitch - Parameter to modify
      Returns:
      Itself

    • getMountPosePitchMeasure

      public final Angle getMountPosePitchMeasure()
      Helper method to get this configuration's MountPosePitch parameter converted to a unit type. If not using the Java units library, MountPosePitch can be accessed directly instead.

      The mounting calibration pitch-component.

      • Minimum Value: -360
      • Maximum Value: 360
      • Default Value: 0
      • Units: deg
      Returns:
      MountPosePitch

    • withMountPoseRoll

      public final MountPoseConfigs withMountPoseRoll(double newMountPoseRoll)
      Modifies this configuration's MountPoseRoll parameter and returns itself for method-chaining and easier to use config API.

      The mounting calibration roll-component.

      • Minimum Value: -360
      • Maximum Value: 360
      • Default Value: 0
      • Units: deg
      Parameters:
      newMountPoseRoll - Parameter to modify
      Returns:
      Itself

    • withMountPoseRoll

      public final MountPoseConfigs withMountPoseRoll(Angle newMountPoseRoll)
      Modifies this configuration's MountPoseRoll parameter and returns itself for method-chaining and easier to use config API.

      The mounting calibration roll-component.

      • Minimum Value: -360
      • Maximum Value: 360
      • Default Value: 0
      • Units: deg
      Parameters:
      newMountPoseRoll - Parameter to modify
      Returns:
      Itself

    • getMountPoseRollMeasure

      public final Angle getMountPoseRollMeasure()
      Helper method to get this configuration's MountPoseRoll parameter converted to a unit type. If not using the Java units library, MountPoseRoll can be accessed directly instead.

      The mounting calibration roll-component.

      • Minimum Value: -360
      • Maximum Value: 360
      • Default Value: 0
      • Units: deg
      Returns:
      MountPoseRoll

    • toString

      public String toString()
      Overrides:
      toString in class Object

    • serialize

      public final String serialize()
      Get the serialized form of this configuration group.
      Specified by:
      serialize in interface ParentConfiguration
      Returns:
      Serialized form of this config group

    • deserialize

      public final StatusCode deserialize(String to_deserialize)
      Take a string and deserialize it to this configuration group.
      Specified by:
      deserialize in interface ParentConfiguration
      Parameters:
      to_deserialize - The serialized configuration
      Returns:
      Return code of the deserialize method

    • clone

      public MountPoseConfigs clone()
      Overrides:
      clone in class Object