CTRE_Phoenix  5.19.4
ctre::phoenix::sensors Namespace Reference

Classes

class  AbsoluteSensorRangeRoutines
 
class  CANCoder
 
struct  CANCoderConfiguration
 
struct  CANCoderConfigUtils
 
struct  CANCoderFaults
 
struct  CANCoderStickyFaults
 
class  PigeonIMU
 
struct  PigeonIMU_Faults
 
struct  PigeonIMU_StickyFaults
 
struct  PigeonIMUConfiguration
 
struct  PigeonIMUConfigUtils
 
class  SensorInitializationStrategyRoutines
 
class  SensorTimeBaseRoutines
 
class  SensorVelocityMeasPeriodRoutines
 

Enumerations

enum  AbsoluteSensorRange { Unsigned_0_to_360 = 0, Signed_PlusMinus180 = 1 }
 
enum  CANCoderStatusFrame { CANCoderStatusFrame_SensorData = 0x041400, CANCoderStatusFrame_VbatAndFaults = 0x041440 }
 
enum  MagnetFieldStrength { Invalid_Unknown = 0, BadRange_RedLED = 1, Adequate_OrangeLED = 2, Good_GreenLED = 3 }
 
enum  PigeonIMU_ControlFrame { PigeonIMU_CondStatus_Control_1 = 0x00042800 }
 
enum  PigeonIMU_StatusFrame {
  PigeonIMU_CondStatus_1_General = 0x042000, PigeonIMU_CondStatus_9_SixDeg_YPR = 0x042200, PigeonIMU_CondStatus_6_SensorFusion = 0x042140, PigeonIMU_CondStatus_11_GyroAccum = 0x042280,
  PigeonIMU_CondStatus_2_GeneralCompass = 0x042040, PigeonIMU_CondStatus_3_GeneralAccel = 0x042080, PigeonIMU_CondStatus_10_SixDeg_Quat = 0x042240, PigeonIMU_RawStatus_4_Mag = 0x041CC0,
  PigeonIMU_BiasedStatus_2_Gyro = 0x041C40, PigeonIMU_BiasedStatus_4_Mag = 0x041CC0, PigeonIMU_BiasedStatus_6_Accel = 0x41D40
}
 
enum  SensorInitializationStrategy { BootToZero = 0, BootToAbsolutePosition = 1 }
 
enum  SensorTimeBase { Per100Ms_Legacy = 0, PerSecond = 1, PerMinute = 2 }
 
enum  SensorVelocityMeasPeriod {
  Period_1Ms = 1, Period_2Ms = 2, Period_5Ms = 5, Period_10Ms = 10,
  Period_20Ms = 20, Period_25Ms = 25, Period_50Ms = 50, Period_100Ms = 100
}
 

Detailed Description

sensors namespace

Enumeration Type Documentation

◆ AbsoluteSensorRange

Enum for how to range the absolute sensor position.

Enumerator
Unsigned_0_to_360 

Express the absolute position as an unsigned value. E.g. [0,+1) rotations or [0,360) deg.

Signed_PlusMinus180 

Express the absolute position as an signed value. E.g. [-0.5,+0.5) rotations or [-180,+180) deg.

◆ CANCoderStatusFrame

Enumerated type for status frame types.

◆ MagnetFieldStrength

Indicates the magnet field strength of a magnet-based sensor

Enumerator
Invalid_Unknown 

Magnet Field strength cannot be determined

BadRange_RedLED 

Magnet field is far too low (too far) or far too high (too close).

Adequate_OrangeLED 

Magnet field is adequate, sensor can be used in this range with slightly reduced accuracy.

Good_GreenLED 

Magnet field is ideal

◆ PigeonIMU_ControlFrame

Enumerated type for status frame types.

◆ PigeonIMU_StatusFrame

Enumerated type for status frame types.

◆ SensorInitializationStrategy

Enum for how CANCoder should initialize its position register on boot.

Enumerator
BootToZero 

On boot up, set position to zero.

BootToAbsolutePosition 

On boot up, sync to the Absolute Position signal. The Absolute position signal will be signed according to the selected Absolute Sensor Range.

◆ SensorTimeBase

Velocity Measurement Periods

Enumerator
Per100Ms_Legacy 

Legacy Mode

PerSecond 

Per-Second Velocities

PerMinute 

Per-Minute Velocities

◆ SensorVelocityMeasPeriod

Enumerate filter periods for any sensor that measures velocity.

Enumerator
Period_1Ms 

1ms velocity measurement period

Period_2Ms 

2ms velocity measurement period

Period_5Ms 

5ms velocity measurement period

Period_10Ms 

10ms velocity measurement period

Period_20Ms 

20ms velocity measurement period

Period_25Ms 

25ms velocity measurement period

Period_50Ms 

50ms velocity measurement period

Period_100Ms 

100ms velocity measurement period