Pigeon2 phoenix hardware doesn't seem to have all the required functions.

[Lagor845]

We were hoping to try python this year for our swerve implementation but I can't seem to find any documentation for how to grab rotation values for the x axis of the pigeon2. For java you bring in the pigeon class from hardware and then run the .getRotation2d to grab its rotation. It seems that the python implementation has no such function.

I cannot find the .reset or the .getRotation2d Are the classes just developed differently? Or does the python just not have that functionality yet?

This is the Java docs https://api.ctr-electronics.com/phoenix6/release/java/com/ctre/phoenix6/hardware/Pigeon2.html

This is the Python docs https://api.ctr-electronics.com/phoenix6/release/python/autoapi/phoenix6/hardware/core/core_pigeon2/index.html#phoenix6.hardware.core.core_pigeon2.CorePigeon2

Thank you for all of your help!

[CoryNessCTR]

Both getRotation2d() and reset() are WPILib specific methods, which we haven't yet brought over to Python. Our Python API does however have the necessary functions to replicate this functionality, with get_yaw() and set_yaw()

Equivalent methods would be the following:

def get_rotation2d(pigeon: Pigeon2):
    return Rotation2d.fromDegrees(pigeon.get_yaw().value)

def reset(pigeon: Pigeon2):
    pigeon.set_yaw(0)

grab rotation values for the x axis

Are you sure you mean the X axis? That corresponds to the Roll Axis in Pigeon 2, which is not what getRotation2d() does in other languages. That method gets the Z axis, corresponding to Yaw about Pigeon 2.

[Lagor845]

Thank you! That one had me confused for a bit! I will inform the team and our progress shall commence! Thank you for all you do!

On Wed, Jan 24, 2024 at 10:32 AM Cory @.***> wrote:

Both getRotation2d() and reset() are WPILib specific methods, which we haven't yet brought over to Python. Our Python API does however have the necessary functions to replicate this functionality, with get_yaw() https://api.ctr-electronics.com/phoenix6/release/python/autoapi/phoenix6/hardware/core/core_pigeon2/index.html#phoenix6.hardware.core.core_pigeon2.CorePigeon2.get_yaw and set_yaw() https://api.ctr-electronics.com/phoenix6/release/python/autoapi/phoenix6/hardware/core/core_pigeon2/index.html#phoenix6.hardware.core.core_pigeon2.CorePigeon2.set_yaw

Equivalent methods would be the following:

def get_rotation2d(pigeon: Pigeon2): return Rotation2d.fromDegrees(pigeon.get_yaw().value) def reset(pigeon: Pigeon2): pigeon.set_yaw(0)

grab rotation values for the x axis

Are you sure you mean the X axis? That corresponds to the Roll Axis in Pigeon 2, which is not what getRotation2d() does in other languages. That method gets the Z axis, corresponding to Yaw about Pigeon 2.

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[daltzctr]

Fixed in beta 1 (which the python portion is pending on robotpy)