Class Pigeon2

java.lang.Object

com.ctre.phoenix6.hardware.ParentDevice

com.ctre.phoenix6.hardware.core.CorePigeon2

com.ctre.phoenix6.hardware.Pigeon2

All Implemented Interfaces:

PhoenixAlertable, CommonDevice, AutoCloseable, TelemetryLoggable

public class Pigeon2
extends CorePigeon2
implements AutoCloseable, TelemetryLoggable

WPILib-integrated version of CorePigeon2.

Nested Class Summary

Nested classes/interfaces inherited from class ParentDevice

ParentDevice.MapGenerator

Field Summary

Fields inherited from class ParentDevice

_emptyControl, deviceIdentifier

Constructor Summary

Constructors

Constructor	Description
Pigeon2(int deviceId, CANBus canbus)	Constructs a new Pigeon 2 sensor object.

Method Summary

Modifier and Type	Method	Description
void	close()
final Quaternion	getQuaternion()	Returns the orientation of the Pigeon 2 as a Quaternion.
final Rotation2d	getRotation2d()	Returns the heading of the Pigeon 2 as a Rotation2d.
final Rotation3d	getRotation3d()	Returns the orientation of the Pigeon 2 as a Rotation3d created from the quaternion signals.
String	getTelemetryType()	Gets the telemetry table type.
void	logTo(TelemetryTable table)	Logs the object to a TelemetryTable.
static Pigeon2	none()	Constructs a stubbed-out Pigeon2, where all status signals, controls, configs, etc.
final void	reset()	Resets the Pigeon 2 to a heading of zero.

Methods inherited from class CorePigeon2

clearStickyFault_BootDuringEnable, clearStickyFault_BootDuringEnable, clearStickyFault_BootIntoMotion, clearStickyFault_BootIntoMotion, clearStickyFault_BootupAccelerometer, clearStickyFault_BootupAccelerometer, clearStickyFault_BootupGyroscope, clearStickyFault_BootupGyroscope, clearStickyFault_BootupMagnetometer, clearStickyFault_BootupMagnetometer, clearStickyFault_DataAcquiredLate, clearStickyFault_DataAcquiredLate, clearStickyFault_Hardware, clearStickyFault_Hardware, clearStickyFault_LoopTimeSlow, clearStickyFault_LoopTimeSlow, clearStickyFault_SaturatedAccelerometer, clearStickyFault_SaturatedAccelerometer, clearStickyFault_SaturatedGyroscope, clearStickyFault_SaturatedGyroscope, clearStickyFault_SaturatedMagnetometer, clearStickyFault_SaturatedMagnetometer, clearStickyFault_Undervoltage, clearStickyFault_Undervoltage, clearStickyFault_UnlicensedFeatureInUse, clearStickyFault_UnlicensedFeatureInUse, clearStickyFaults, clearStickyFaults, getAccelerationX, getAccelerationX, getAccelerationY, getAccelerationY, getAccelerationZ, getAccelerationZ, getAccumGyroX, getAccumGyroX, getAccumGyroY, getAccumGyroY, getAccumGyroZ, getAccumGyroZ, getAngularVelocityXDevice, getAngularVelocityXDevice, getAngularVelocityXWorld, getAngularVelocityXWorld, getAngularVelocityYDevice, getAngularVelocityYDevice, getAngularVelocityYWorld, getAngularVelocityYWorld, getAngularVelocityZDevice, getAngularVelocityZDevice, getAngularVelocityZWorld, getAngularVelocityZWorld, getConfigurator, getFault_BootDuringEnable, getFault_BootDuringEnable, getFault_BootIntoMotion, getFault_BootIntoMotion, getFault_BootupAccelerometer, getFault_BootupAccelerometer, getFault_BootupGyroscope, getFault_BootupGyroscope, getFault_BootupMagnetometer, getFault_BootupMagnetometer, getFault_DataAcquiredLate, getFault_DataAcquiredLate, getFault_Hardware, getFault_Hardware, getFault_LoopTimeSlow, getFault_LoopTimeSlow, getFault_SaturatedAccelerometer, getFault_SaturatedAccelerometer, getFault_SaturatedGyroscope, getFault_SaturatedGyroscope, getFault_SaturatedMagnetometer, getFault_SaturatedMagnetometer, getFault_Undervoltage, getFault_Undervoltage, getFault_UnlicensedFeatureInUse, getFault_UnlicensedFeatureInUse, getFaultField, getFaultField, getGravityVectorX, getGravityVectorX, getGravityVectorY, getGravityVectorY, getGravityVectorZ, getGravityVectorZ, getIsProLicensed, getIsProLicensed, getMagneticFieldX, getMagneticFieldX, getMagneticFieldY, getMagneticFieldY, getMagneticFieldZ, getMagneticFieldZ, getNoMotionCount, getNoMotionCount, getNoMotionEnabled, getNoMotionEnabled, getPitch, getPitch, getQuatW, getQuatW, getQuatX, getQuatX, getQuatY, getQuatY, getQuatZ, getQuatZ, getRawMagneticFieldX, getRawMagneticFieldX, getRawMagneticFieldY, getRawMagneticFieldY, getRawMagneticFieldZ, getRawMagneticFieldZ, getRoll, getRoll, getSimState, getStickyFault_BootDuringEnable, getStickyFault_BootDuringEnable, getStickyFault_BootIntoMotion, getStickyFault_BootIntoMotion, getStickyFault_BootupAccelerometer, getStickyFault_BootupAccelerometer, getStickyFault_BootupGyroscope, getStickyFault_BootupGyroscope, getStickyFault_BootupMagnetometer, getStickyFault_BootupMagnetometer, getStickyFault_DataAcquiredLate, getStickyFault_DataAcquiredLate, getStickyFault_Hardware, getStickyFault_Hardware, getStickyFault_LoopTimeSlow, getStickyFault_LoopTimeSlow, getStickyFault_SaturatedAccelerometer, getStickyFault_SaturatedAccelerometer, getStickyFault_SaturatedGyroscope, getStickyFault_SaturatedGyroscope, getStickyFault_SaturatedMagnetometer, getStickyFault_SaturatedMagnetometer, getStickyFault_Undervoltage, getStickyFault_Undervoltage, getStickyFault_UnlicensedFeatureInUse, getStickyFault_UnlicensedFeatureInUse, getStickyFaultField, getStickyFaultField, getSupplyVoltage, getSupplyVoltage, getTemperature, getTemperature, getTemperatureCompensationDisabled, getTemperatureCompensationDisabled, getUpTime, getUpTime, getVersion, getVersion, getVersionBugfix, getVersionBugfix, getVersionBuild, getVersionBuild, getVersionMajor, getVersionMajor, getVersionMinor, getVersionMinor, getYaw, getYaw, registerAlerts, setYaw, setYaw, setYaw, setYaw

Methods inherited from class ParentDevice

getAppliedControl, getDeviceHash, getDeviceID, getIsConnectedChecker, getIsConnectedChecker, getNetwork, getResetOccurredChecker, hasResetOccurred, isConnected, isConnected, lookupStatusSignal, lookupStatusSignal, optimizeBusUtilization, optimizeBusUtilization, optimizeBusUtilization, optimizeBusUtilization, optimizeBusUtilization, optimizeBusUtilizationForAll, optimizeBusUtilizationForAll, optimizeBusUtilizationForAll, resetSignalFrequencies, resetSignalFrequencies, resetSignalFrequenciesForAll, setControlPrivate, toString

Methods inherited from class Object

clone, equals, finalize, getClass, hashCode, notify, notifyAll, wait, wait, wait

Constructor Details

Pigeon2

public Pigeon2(int deviceId,
 CANBus canbus)

Constructs a new Pigeon 2 sensor object.

Parameters:

deviceId - ID of the device, as configured in Phoenix Tuner

canbus - The CAN bus this device is on

Method Details

none

public static Pigeon2 none()

Constructs a stubbed-out Pigeon2, where all status signals, controls, configs, etc. perform no action and immediately return OK. This can be used to silence error messages for devices that have been completely removed from the robot.

Returns:

Stubbed-out Pigeon2

close

public void close()

Specified by:

close in interface AutoCloseable

reset

public final void reset()

Resets the Pigeon 2 to a heading of zero.

This can be used if there is significant drift in the gyro, and it needs to be recalibrated after it has been running.

getRotation2d

public final Rotation2d getRotation2d()

Returns the heading of the Pigeon 2 as a Rotation2d.

The angle increases as the Pigeon 2 turns counterclockwise when looked at from the top. This follows the NWU axis convention.

Returns:

The current heading of the Pigeon 2 as a Rotation2d

getRotation3d

public final Rotation3d getRotation3d()

Returns the orientation of the Pigeon 2 as a Rotation3d created from the quaternion signals.

Returns:

The current orientation of the Pigeon 2 as a Rotation3d

getQuaternion

public final Quaternion getQuaternion()

Returns the orientation of the Pigeon 2 as a Quaternion.

Returns:

The current orientation of the Pigeon 2 as a Quaternion

logTo

public void logTo(TelemetryTable table)

Logs the object to a TelemetryTable.

Specified by:

logTo in interface TelemetryLoggable

Parameters:

table - telemetry table

getTelemetryType

public String getTelemetryType()

Gets the telemetry table type.

Specified by:

getTelemetryType in interface TelemetryLoggable

Returns:

Table type