Can I use a NavX instead of Pigeon 2 for CTRE Swerve project generator?

Technical Programming
1

I very recently saw that CTRE now has a Swerve Project Generator as a part of their Tuner X software.

Reading the documentation, it seems that it requires a pigeon 2.0 which our team does not have, however we do have NavX’s (as per the title), I am wondering if there is any way possible to use a NavX instead of a pigeon?

2

No, the built-in latency compensation won’t work unless it is a Pigeon on a CANivore.

1 Like
3

Note that our Swerve API does not require the use of a CANivore, you just won’t get the benefits of timesync (requires Pro) and 250 Hz odometry without it. With that said, we do require all devices to be Phoenix 6 devices.

4

Any advice on the pigeon placement on robot?

5

I’ve seen most teams put the pigeon (or NavX/other gyro) as close to the center as possible.

6

It’s best to keep is as close to the center of rotation as possible to avoid sensor saturation. From the user guide:

Due to the fusion between the accelerometer and the gyroscope, excessive and sustained g-force caused by centripetal acceleration can impact the Yaw. This can be resolved by moving the IMU closer to the COR (center of rotation).