{
  "metadata": {
    "id": "ctre-pigeon-2",
    "name": "CTRE Pigeon 2.0",
    "type": "sensor",
    "description": "CTRE Pigeon 2.0 Inertial Measurement Unit for FRC. Provides yaw, pitch, roll, and IMU data over CAN.",
    "manufacturer": "CTRE",
    "part_number": "Pigeon 2.0",
    "datasheet_url": "https://store.ctr-electronics.com/pigeon-2/",
    "tags": [
      "FRC",
      "IMU",
      "gyro",
      "accelerometer",
      "CAN",
      "CTRE",
      "Pigeon"
    ],
    "schema_version": "1.4.0",
    "version": "0.1.0",
    "taxonomy": [
      "sensor.imu",
      "robotics.frc"
    ]
  },
  "domains": [
    {
      "domain": "electrical",
      "power_domains": [
        {
          "id": "5-24v-in",
          "name": "5-24V Input",
          "nominal_voltage_V": 12,
          "voltage_range_V": [
            5,
            24
          ],
          "max_current_mA": 100
        }
      ],
      "resources": [
        {
          "id": "v-pos",
          "name": "+V (Red)",
          "functions": [
            {
              "name": "V+",
              "direction": "sink",
              "signal_class": "power"
            }
          ],
          "power_domain_id": "5-24v-in"
        },
        {
          "id": "gnd",
          "name": "GND (Black)",
          "functions": [
            {
              "name": "GND",
              "direction": "sink",
              "signal_class": "ground"
            }
          ],
          "power_domain_id": "5-24v-in"
        },
        {
          "id": "can-h",
          "name": "CAN_H (Yellow)",
          "functions": [
            {
              "name": "CAN_H",
              "direction": "bidirectional",
              "signal_class": "data"
            }
          ]
        },
        {
          "id": "can-l",
          "name": "CAN_L (Green)",
          "functions": [
            {
              "name": "CAN_L",
              "direction": "bidirectional",
              "signal_class": "data"
            }
          ]
        }
      ],
      "interfaces": [
        {
          "id": "power-in",
          "name": "Power Input",
          "protocol": {
            "type": "power",
            "role": "sink"
          },
          "requires": [
            {
              "function": "V+",
              "count": 1
            },
            {
              "function": "GND",
              "count": 1
            }
          ],
          "max_instances": 1
        },
        {
          "id": "can-bus",
          "name": "CAN Bus",
          "protocol": {
            "type": "can",
            "role": "slave"
          },
          "requires": [
            {
              "function": "CAN_H",
              "count": 1
            },
            {
              "function": "CAN_L",
              "count": 1
            }
          ],
          "max_instances": 1,
          "description": "Reports IMU data (yaw/pitch/roll, accel, gyro) over CAN"
        }
      ]
    }
  ],
  "node_geometry": {
    "xScale": 1,
    "yScale": 1,
    "outline": {
      "preset": "rounded_rectangle"
    }
  }
}