/// <summary>
/// Create a Pigeon object that communciates with Pigeon through the Gadgeteer ribbon
/// cable connected to a Talon on CAN Bus.
/// </summary>
/// <param name="talonSrx"> Talon SRX object that Pigeon is connected to.</param>
public PigeonImu(CTRE.TalonSrx talonSrx)
{
_deviceId = (UInt32)0x02000000 | talonSrx.GetDeviceNumber();
CTRE.Native.CAN.Send(CONTROL_1 | _deviceId, 0x00000000, 0, 100);
_ParamContainer = new ParamContainer(_deviceId, PARAM_REQUEST, PARAM_RESPONSE, PARAM_SET);
}
/// <summary>
/// Create a Pigeon object that communicates with Pigeon on CAN Bus.
/// </summary>
/// Pigeon must be connected to CANBus and external 12V power.
/// <param name="deviceNumber"> CAN Devcie Id of Pigeon.</param>
public PigeonImu(int deviceNumber)
{
_deviceId = 0x15000000 | (UInt32)deviceNumber;
CTRE.Native.CAN.Send(CONTROL_1 | _deviceId, 0x00000000, 0, 100);
_ParamContainer = new ParamContainer(_deviceId, PARAM_REQUEST, PARAM_RESPONSE, PARAM_SET);
}
