Package com.ctre.phoenix.sensors

Class BasePigeonSimCollection

java.lang.Object

com.ctre.phoenix.sensors.BasePigeonSimCollection

public class BasePigeonSimCollection
extends Object

Constructor Summary

Constructors

Constructor	Description
BasePigeonSimCollection(BasePigeon pigeon, boolean isRibbonCable)

Method Summary

Modifier and Type	Method	Description
ErrorCode	addHeading(double dHeading)	Adds to the simulated heading of the Pigeon IMU
ErrorCode	setRawHeading(double newHeading)	Sets the simulated input heading position of the Pigeon IMU.

Methods inherited from class java.lang.Object

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

Constructor Details

BasePigeonSimCollection

public BasePigeonSimCollection(BasePigeon pigeon,
 boolean isRibbonCable)

Method Details

setRawHeading

public ErrorCode setRawHeading(double newHeading)

Sets the simulated input heading position of the Pigeon IMU.

The Pigeon IMU integrates the delta between each new raw heading value and uses this to calculate the true reported yaw and fused heading.

When using the WPI Sim GUI, you will notice a readonly 'yaw' and settable 'RawHeading'. The readonly signal is the emulated yaw which will match self-test in Tuner and the hardware API. Changes to 'RawHeading' will be integrated into the emulated yaw. This way a simulator can modify the heading without overriding your hardware API calls for home-ing your sensor.

Inputs to this function over time should be continuous, as user calls of setYaw() or setFusedHeading() will be accounted for in the calculation.

Parameters:

newHeading - the new input heading in degrees

Returns:

error code

addHeading

public ErrorCode addHeading(double dHeading)

Adds to the simulated heading of the Pigeon IMU

Parameters:

dHeading - the change in heading in degrees

Returns:

error code