Package com.ctre.phoenix.sensors

Class WPI_Pigeon2

java.lang.Object

com.ctre.phoenix.sensors.BasePigeon

com.ctre.phoenix.sensors.Pigeon2

com.ctre.phoenix.sensors.WPI_Pigeon2

All Implemented Interfaces:

edu.wpi.first.util.sendable.Sendable, edu.wpi.first.wpilibj.interfaces.Gyro, AutoCloseable

public class WPI_Pigeon2
extends Pigeon2
implements edu.wpi.first.util.sendable.Sendable, edu.wpi.first.wpilibj.interfaces.Gyro

Constructor Summary

Constructors

Constructor	Description
WPI_Pigeon2(int deviceNumber)	Constructor for Pigeon 2.
WPI_Pigeon2(int deviceNumber, String canbus)	Constructor for Pigeon 2.

Method Summary

Modifier and Type	Method	Description
void	calibrate()	This function does nothing, it exists to satisfy the WPILib Gyro interface.
void	close()
double	getAngle()	Return the heading of the robot in degrees.
double	getRate()	Return the rate of rotation of the gyro.
edu.wpi.first.math.geometry.Rotation2d	getRotation2d()	Return the heading of the robot as a Rotation2d.
void	initSendable(edu.wpi.first.util.sendable.SendableBuilder builder)	Initializes this Sendable object.
void	reset()	Reset the gyro.

Methods inherited from class com.ctre.phoenix.sensors.Pigeon2

configAllSettings, configAllSettings, configDisableNoMotionCalibration, configDisableNoMotionCalibration, configDisableTemperatureCompensation, configDisableTemperatureCompensation, configEnableCompass, configEnableCompass, configMountPose, configMountPose, configMountPosePitch, configMountPosePitch, configMountPoseRoll, configMountPoseRoll, configMountPoseYaw, configMountPoseYaw, getAllConfigs, getAllConfigs, getFaults, getGravityVector, getStickyFaults, zeroGyroBiasNow, zeroGyroBiasNow

Methods inherited from class com.ctre.phoenix.sensors.BasePigeon

addYaw, addYaw, clearStickyFaults, clearStickyFaults, configAllSettings, configAllSettings, configFactoryDefault, configFactoryDefault, configGetCustomParam, configGetCustomParam, configGetParameter, configGetParameter, configGetParameter, configGetParameter, configSetCustomParam, configSetCustomParam, configSetParameter, configSetParameter, configSetParameter, configSetParameter, DestroyObject, get6dQuaternion, getAbsoluteCompassHeading, getAccumGyro, getAllConfigs, getAllConfigs, getBiasedAccelerometer, getBiasedMagnetometer, getCompassFieldStrength, getCompassHeading, getDeviceID, getFirmwareVersion, getHandle, getLastError, getPitch, getRawGyro, getRawMagnetometer, getResetCount, getResetFlags, getRoll, getSimCollection, getStatusFramePeriod, getStatusFramePeriod, getTemp, getUpTime, getYaw, getYawPitchRoll, hasResetOccurred, setAccumZAngle, setAccumZAngle, setControlFramePeriod, setControlFramePeriod, setStatusFramePeriod, setStatusFramePeriod, setStatusFramePeriod, setStatusFramePeriod, setYaw, setYaw, setYawToCompass, setYawToCompass

Methods inherited from class java.lang.Object

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

Constructor Details

WPI_Pigeon2

public WPI_Pigeon2(int deviceNumber,
 String canbus)

Constructor for Pigeon 2.

Parameters:

deviceNumber - device ID of Pigeon 2

canbus - Name of the CANbus; can be a CANivore device name or serial number. Pass in nothing or "rio" to use the roboRIO.

WPI_Pigeon2

public WPI_Pigeon2(int deviceNumber)

Constructor for Pigeon 2.

Parameters:

deviceNumber - device ID of Pigeon 2

Method Details

close

public void close()

Specified by:

close in interface AutoCloseable

calibrate

public void calibrate()

This function does nothing, it exists to satisfy the WPILib Gyro interface. Pigeon does calibration on boot and any one-time calibrations (like temperature) are done via Phoenix Tuner.

Specified by:

calibrate in interface edu.wpi.first.wpilibj.interfaces.Gyro

reset

public void reset()

Description copied from interface: edu.wpi.first.wpilibj.interfaces.Gyro

Reset the gyro. Resets the gyro 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.

Specified by:

reset in interface edu.wpi.first.wpilibj.interfaces.Gyro

getAngle

public double getAngle()

Description copied from interface: edu.wpi.first.wpilibj.interfaces.Gyro

Return the heading of the robot in degrees.

The angle is continuous, that is it will continue from 360 to 361 degrees. This allows algorithms that wouldn't want to see a discontinuity in the gyro output as it sweeps past from 360 to 0 on the second time around.

The angle is expected to increase as the gyro turns clockwise when looked at from the top. It needs to follow the NED axis convention.

This heading is based on integration of the returned rate from the gyro.

Specified by:

getAngle in interface edu.wpi.first.wpilibj.interfaces.Gyro

Returns:

the current heading of the robot in degrees.

getRate

public double getRate()

Description copied from interface: edu.wpi.first.wpilibj.interfaces.Gyro

Return the rate of rotation of the gyro.

The rate is based on the most recent reading of the gyro analog value

The rate is expected to be positive as the gyro turns clockwise when looked at from the top. It needs to follow the NED axis convention.

Specified by:

getRate in interface edu.wpi.first.wpilibj.interfaces.Gyro

Returns:

the current rate in degrees per second

getRotation2d

public edu.wpi.first.math.geometry.Rotation2d getRotation2d()

Description copied from interface: edu.wpi.first.wpilibj.interfaces.Gyro

Return the heading of the robot as a Rotation2d.

The angle is continuous, that is it will continue from 360 to 361 degrees. This allows algorithms that wouldn't want to see a discontinuity in the gyro output as it sweeps past from 360 to 0 on the second time around.

The angle is expected to increase as the gyro turns counterclockwise when looked at from the top. It needs to follow the NWU axis convention.

This heading is based on integration of the returned rate from the gyro.

Specified by:

getRotation2d in interface edu.wpi.first.wpilibj.interfaces.Gyro

Returns:

the current heading of the robot as a Rotation2d.

initSendable

public void initSendable(edu.wpi.first.util.sendable.SendableBuilder builder)

Description copied from interface: edu.wpi.first.util.sendable.Sendable

Initializes this Sendable object.

Specified by:

initSendable in interface edu.wpi.first.util.sendable.Sendable

Parameters:

builder - sendable builder