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Pigeon

This refers to the very first iteration of the CTRE Pigeon which is discontinued and only supported via Phoenix 5.

Phoenix Tuner

To communicate and update this device you need to install the Phoenix tuner.

{% embed url="https://store.ctr-electronics.com/software/" %} Phoenix Tuner is available under "Phoenix Framework for HERO C#" {% endembed %}

Documentation

The Pigeon is only available in Phoenix 5 so the documentation is located below. You must include Phoenix 5 libraries in YAGSL partly because of this device.

{% embed url="https://v5.docs.ctr-electronics.com/en/stable/ch11_BringUpPigeon.html" %} Guide to programming and configuring the Pigeon {% endembed %}

YAGSL Checklist

  • Set a unique CAN ID.
  • Update to the latest available firmware.

Communication

After setting the CAN ID you set the id portion of the JSON configuration for the pigeon to the CAN ID. This device is not compatible with CANivore's thus the canbus option does not apply and should be "" or "rio" or null.

Example swervedrive.json

{
  "imu": {
    "type": "pigeon",
    "id": 13,
    "canbus": null
  },
  "invertedIMU": true,
  "modules": [
    "frontleft.json",
    "frontright.json",
    "backleft.json",
    "backright.json"
  ]
}