Table of Contents

Interface HasTalonSignals

Namespace
CTRE.Phoenix6.Hardware.Traits
Assembly
Phoenix6.Hardware.dll

Contains all status signals available for devices that support Talon signals.

public interface HasTalonSignals : CommonDevice
Inherited Members

Methods

ClearStickyFault_BootDuringEnable(double)

Clear sticky fault: Device boot while detecting the enable signal

StatusCode ClearStickyFault_BootDuringEnable(double timeoutSeconds = 0.1)

Parameters

timeoutSeconds double

Maximum time to wait up to in seconds.

Returns

StatusCode

StatusCode of the set command

ClearStickyFault_BridgeBrownout(double)

Clear sticky fault: Bridge was disabled most likely due to supply voltage dropping too low.

StatusCode ClearStickyFault_BridgeBrownout(double timeoutSeconds = 0.1)

Parameters

timeoutSeconds double

Maximum time to wait up to in seconds.

Returns

StatusCode

StatusCode of the set command

ClearStickyFault_DeviceTemp(double)

Clear sticky fault: Device temperature exceeded limit

StatusCode ClearStickyFault_DeviceTemp(double timeoutSeconds = 0.1)

Parameters

timeoutSeconds double

Maximum time to wait up to in seconds.

Returns

StatusCode

StatusCode of the set command

ClearStickyFault_ForwardHardLimit(double)

Clear sticky fault: Forward limit switch has been asserted. Output is set to neutral.

StatusCode ClearStickyFault_ForwardHardLimit(double timeoutSeconds = 0.1)

Parameters

timeoutSeconds double

Maximum time to wait up to in seconds.

Returns

StatusCode

StatusCode of the set command

ClearStickyFault_ForwardSoftLimit(double)

Clear sticky fault: Forward soft limit has been asserted. Output is set to neutral.

StatusCode ClearStickyFault_ForwardSoftLimit(double timeoutSeconds = 0.1)

Parameters

timeoutSeconds double

Maximum time to wait up to in seconds.

Returns

StatusCode

StatusCode of the set command

ClearStickyFault_FusedSensorOutOfSync(double)

Clear sticky fault: The remote sensor used for fusion has fallen out of sync to the local sensor. A re-synchronization has occurred, which may cause a discontinuity. This typically happens if there is significant slop in the mechanism, or if the RotorToSensorRatio configuration parameter is incorrect.

StatusCode ClearStickyFault_FusedSensorOutOfSync(double timeoutSeconds = 0.1)

Parameters

timeoutSeconds double

Maximum time to wait up to in seconds.

Returns

StatusCode

StatusCode of the set command

ClearStickyFault_Hardware(double)

Clear sticky fault: Hardware fault occurred

StatusCode ClearStickyFault_Hardware(double timeoutSeconds = 0.1)

Parameters

timeoutSeconds double

Maximum time to wait up to in seconds.

Returns

StatusCode

StatusCode of the set command

ClearStickyFault_MissingDifferentialFX(double)

Clear sticky fault: The remote Talon used for differential control is not present on CAN Bus.

StatusCode ClearStickyFault_MissingDifferentialFX(double timeoutSeconds = 0.1)

Parameters

timeoutSeconds double

Maximum time to wait up to in seconds.

Returns

StatusCode

StatusCode of the set command

ClearStickyFault_MissingHardLimitRemote(double)

Clear sticky fault: The remote limit switch device is not present on CAN Bus.

StatusCode ClearStickyFault_MissingHardLimitRemote(double timeoutSeconds = 0.1)

Parameters

timeoutSeconds double

Maximum time to wait up to in seconds.

Returns

StatusCode

StatusCode of the set command

ClearStickyFault_MissingSoftLimitRemote(double)

Clear sticky fault: The remote soft limit device is not present on CAN Bus.

StatusCode ClearStickyFault_MissingSoftLimitRemote(double timeoutSeconds = 0.1)

Parameters

timeoutSeconds double

Maximum time to wait up to in seconds.

Returns

StatusCode

StatusCode of the set command

ClearStickyFault_OverSupplyV(double)

Clear sticky fault: Supply Voltage has exceeded the maximum voltage rating of device.

StatusCode ClearStickyFault_OverSupplyV(double timeoutSeconds = 0.1)

Parameters

timeoutSeconds double

Maximum time to wait up to in seconds.

Returns

StatusCode

StatusCode of the set command

ClearStickyFault_ProcTemp(double)

Clear sticky fault: Processor temperature exceeded limit

StatusCode ClearStickyFault_ProcTemp(double timeoutSeconds = 0.1)

Parameters

timeoutSeconds double

Maximum time to wait up to in seconds.

Returns

StatusCode

StatusCode of the set command

ClearStickyFault_RemoteSensorDataInvalid(double)

Clear sticky fault: The remote sensor's data is no longer trusted. This can happen if the remote sensor disappears from the CAN bus or if the remote sensor indicates its data is no longer valid, such as when a CANcoder's magnet strength falls into the "red" range.

StatusCode ClearStickyFault_RemoteSensorDataInvalid(double timeoutSeconds = 0.1)

Parameters

timeoutSeconds double

Maximum time to wait up to in seconds.

Returns

StatusCode

StatusCode of the set command

ClearStickyFault_RemoteSensorPosOverflow(double)

Clear sticky fault: The remote sensor position has overflowed. Because of the nature of remote sensors, it is possible for the remote sensor position to overflow beyond what is supported by the status signal frame. However, this is rare and cannot occur over the course of an FRC match under normal use.

StatusCode ClearStickyFault_RemoteSensorPosOverflow(double timeoutSeconds = 0.1)

Parameters

timeoutSeconds double

Maximum time to wait up to in seconds.

Returns

StatusCode

StatusCode of the set command

ClearStickyFault_RemoteSensorReset(double)

Clear sticky fault: The remote sensor has reset.

StatusCode ClearStickyFault_RemoteSensorReset(double timeoutSeconds = 0.1)

Parameters

timeoutSeconds double

Maximum time to wait up to in seconds.

Returns

StatusCode

StatusCode of the set command

ClearStickyFault_ReverseHardLimit(double)

Clear sticky fault: Reverse limit switch has been asserted. Output is set to neutral.

StatusCode ClearStickyFault_ReverseHardLimit(double timeoutSeconds = 0.1)

Parameters

timeoutSeconds double

Maximum time to wait up to in seconds.

Returns

StatusCode

StatusCode of the set command

ClearStickyFault_ReverseSoftLimit(double)

Clear sticky fault: Reverse soft limit has been asserted. Output is set to neutral.

StatusCode ClearStickyFault_ReverseSoftLimit(double timeoutSeconds = 0.1)

Parameters

timeoutSeconds double

Maximum time to wait up to in seconds.

Returns

StatusCode

StatusCode of the set command

ClearStickyFault_StaticBrakeDisabled(double)

Clear sticky fault: Static brake was momentarily disabled due to excessive braking current while disabled.

StatusCode ClearStickyFault_StaticBrakeDisabled(double timeoutSeconds = 0.1)

Parameters

timeoutSeconds double

Maximum time to wait up to in seconds.

Returns

StatusCode

StatusCode of the set command

ClearStickyFault_StatorCurrLimit(double)

Clear sticky fault: Stator current limit occured.

StatusCode ClearStickyFault_StatorCurrLimit(double timeoutSeconds = 0.1)

Parameters

timeoutSeconds double

Maximum time to wait up to in seconds.

Returns

StatusCode

StatusCode of the set command

ClearStickyFault_SupplyCurrLimit(double)

Clear sticky fault: Supply current limit occured.

StatusCode ClearStickyFault_SupplyCurrLimit(double timeoutSeconds = 0.1)

Parameters

timeoutSeconds double

Maximum time to wait up to in seconds.

Returns

StatusCode

StatusCode of the set command

ClearStickyFault_Undervoltage(double)

Clear sticky fault: Device supply voltage dropped to near brownout levels

StatusCode ClearStickyFault_Undervoltage(double timeoutSeconds = 0.1)

Parameters

timeoutSeconds double

Maximum time to wait up to in seconds.

Returns

StatusCode

StatusCode of the set command

ClearStickyFault_UnlicensedFeatureInUse(double)

Clear sticky fault: An unlicensed feature is in use, device may not behave as expected.

StatusCode ClearStickyFault_UnlicensedFeatureInUse(double timeoutSeconds = 0.1)

Parameters

timeoutSeconds double

Maximum time to wait up to in seconds.

Returns

StatusCode

StatusCode of the set command

ClearStickyFault_UnstableSupplyV(double)

Clear sticky fault: Supply Voltage is unstable. Ensure you are using a battery and current limited power supply.

StatusCode ClearStickyFault_UnstableSupplyV(double timeoutSeconds = 0.1)

Parameters

timeoutSeconds double

Maximum time to wait up to in seconds.

Returns

StatusCode

StatusCode of the set command

ClearStickyFault_UsingFusedCANcoderWhileUnlicensed(double)

Clear sticky fault: Using Fused CANcoder feature while unlicensed. Device has fallen back to remote CANcoder.

StatusCode ClearStickyFault_UsingFusedCANcoderWhileUnlicensed(double timeoutSeconds = 0.1)

Parameters

timeoutSeconds double

Maximum time to wait up to in seconds.

Returns

StatusCode

StatusCode of the set command

ClearStickyFaults(double)

Clear the sticky faults in the device.

This typically has no impact on the device functionality. Instead, it just clears telemetry faults that are accessible via API and Tuner Self-Test. 
StatusCode ClearStickyFaults(double timeoutSeconds = 0.1)

Parameters

timeoutSeconds double

Maximum time to wait up to in seconds.

Returns

StatusCode

StatusCode of the set command

GetAcceleration(bool)

Acceleration of the device in mechanism rotations per second². This can be the acceleration of a remote sensor and is affected by the RotorToSensorRatio and SensorToMechanismRatio configs.

  • Minimum Value-2048.0
  • Maximum Value2047.75
  • Default Value0
  • Unitsrotations per second²

This refreshes and returns a cached StatusSignal object. 
StatusSignal<double> GetAcceleration(bool refresh = true)

Parameters

refresh bool

Whether to refresh the StatusSignal before returning it; defaults to true

Returns

StatusSignal<double>

Acceleration Status Signal Object

GetAncillaryDeviceTemp(bool)

Temperature of device from second sensor.

Newer versions of Talon have multiple temperature measurement methods.
  • Minimum Value0.0
  • Maximum Value255.0
  • Default Value0
  • Units℃

This refreshes and returns a cached StatusSignal object. 
StatusSignal<double> GetAncillaryDeviceTemp(bool refresh = true)

Parameters

refresh bool

Whether to refresh the StatusSignal before returning it; defaults to true

Returns

StatusSignal<double>

AncillaryDeviceTemp Status Signal Object

GetAppliedRotorPolarity(bool)

The applied rotor polarity as seen from the front of the motor. This typically is determined by the Inverted config, but can be overridden if using Follower features.

This refreshes and returns a cached StatusSignal object. 
StatusSignal<AppliedRotorPolarityValue> GetAppliedRotorPolarity(bool refresh = true)

Parameters

refresh bool

Whether to refresh the StatusSignal before returning it; defaults to true

Returns

StatusSignal<AppliedRotorPolarityValue>

AppliedRotorPolarity Status Signal Object

GetBridgeOutput(bool)

The applied output of the bridge.

This refreshes and returns a cached StatusSignal object. 
StatusSignal<BridgeOutputValue> GetBridgeOutput(bool refresh = true)

Parameters

refresh bool

Whether to refresh the StatusSignal before returning it; defaults to true

Returns

StatusSignal<BridgeOutputValue>

BridgeOutput Status Signal Object

GetClosedLoopDerivativeOutput(bool)

Closed loop derivative component.

The portion of the closed loop output that is proportional to the deriviative of error. Alternatively, the kD contribution of the closed loop output.

When using differential control, this applies to the average axis.

This refreshes and returns a cached StatusSignal object. 
StatusSignal<double> GetClosedLoopDerivativeOutput(bool refresh = true)

Parameters

refresh bool

Whether to refresh the StatusSignal before returning it; defaults to true

Returns

StatusSignal<double>

ClosedLoopDerivativeOutput Status Signal object

GetClosedLoopError(bool)

The difference between target reference and current measurement.

This is the value that is treated as the error in the PID loop.

When using differential control, this applies to the average axis.

This refreshes and returns a cached StatusSignal object. 
StatusSignal<double> GetClosedLoopError(bool refresh = true)

Parameters

refresh bool

Whether to refresh the StatusSignal before returning it; defaults to true

Returns

StatusSignal<double>

ClosedLoopError Status Signal object

GetClosedLoopFeedForward(bool)

Feedforward passed by the user.

This is the general feedforward that the user provides for the closed loop.

When using differential control, this applies to the average axis.

This refreshes and returns a cached StatusSignal object. 
StatusSignal<double> GetClosedLoopFeedForward(bool refresh = true)

Parameters

refresh bool

Whether to refresh the StatusSignal before returning it; defaults to true

Returns

StatusSignal<double>

ClosedLoopFeedForward Status Signal object

GetClosedLoopIntegratedOutput(bool)

Closed loop integrated component.

The portion of the closed loop output that is proportional to the integrated error. Alternatively, the kI contribution of the closed loop output.

When using differential control, this applies to the average axis.

This refreshes and returns a cached StatusSignal object. 
StatusSignal<double> GetClosedLoopIntegratedOutput(bool refresh = true)

Parameters

refresh bool

Whether to refresh the StatusSignal before returning it; defaults to true

Returns

StatusSignal<double>

ClosedLoopIntegratedOutput Status Signal object

GetClosedLoopOutput(bool)

Closed loop total output.

The total output of the closed loop output.

When using differential control, this applies to the average axis.

This refreshes and returns a cached StatusSignal object. 
StatusSignal<double> GetClosedLoopOutput(bool refresh = true)

Parameters

refresh bool

Whether to refresh the StatusSignal before returning it; defaults to true

Returns

StatusSignal<double>

ClosedLoopOutput Status Signal object

GetClosedLoopProportionalOutput(bool)

Closed loop proportional component.

The portion of the closed loop output that is proportional to the error. Alternatively, the kP contribution of the closed loop output.

When using differential control, this applies to the average axis.

This refreshes and returns a cached StatusSignal object. 
StatusSignal<double> GetClosedLoopProportionalOutput(bool refresh = true)

Parameters

refresh bool

Whether to refresh the StatusSignal before returning it; defaults to true

Returns

StatusSignal<double>

ClosedLoopProportionalOutput Status Signal object

GetClosedLoopReference(bool)

Value that the closed loop is targeting.

This is the value that the closed loop PID controller targets.

When using differential control, this applies to the average axis.

This refreshes and returns a cached StatusSignal object. 
StatusSignal<double> GetClosedLoopReference(bool refresh = true)

Parameters

refresh bool

Whether to refresh the StatusSignal before returning it; defaults to true

Returns

StatusSignal<double>

ClosedLoopReference Status Signal object

GetClosedLoopReferenceSlope(bool)

Derivative of the target that the closed loop is targeting.

This is the change in the closed loop reference. This may be used in the feed-forward calculation, the derivative-error, or in application of the signage for kS. Typically, this represents the target velocity during Motion Magic®.

When using differential control, this applies to the average axis.

This refreshes and returns a cached StatusSignal object. 
StatusSignal<double> GetClosedLoopReferenceSlope(bool refresh = true)

Parameters

refresh bool

Whether to refresh the StatusSignal before returning it; defaults to true

Returns

StatusSignal<double>

ClosedLoopReferenceSlope Status Signal object

GetClosedLoopSlot(bool)

The slot that the closed-loop PID is using.

  • Minimum Value0
  • Maximum Value2
  • Default Value0
  • Units

This refreshes and returns a cached StatusSignal object. 
StatusSignal<int> GetClosedLoopSlot(bool refresh = true)

Parameters

refresh bool

Whether to refresh the StatusSignal before returning it; defaults to true

Returns

StatusSignal<int>

ClosedLoopSlot Status Signal Object

GetConnectedMotor(bool)

The type of motor attached to the Talon.

This can be used to determine what motor is attached to the Talon FX. Return will be "Unknown" if firmware is too old or device is not present.

This refreshes and returns a cached StatusSignal object. 
StatusSignal<ConnectedMotorValue> GetConnectedMotor(bool refresh = true)

Parameters

refresh bool

Whether to refresh the StatusSignal before returning it; defaults to true

Returns

StatusSignal<ConnectedMotorValue>

ConnectedMotor Status Signal Object

GetControlMode(bool)

The active control mode of the motor controller.

This refreshes and returns a cached StatusSignal object. 
StatusSignal<ControlModeValue> GetControlMode(bool refresh = true)

Parameters

refresh bool

Whether to refresh the StatusSignal before returning it; defaults to true

Returns

StatusSignal<ControlModeValue>

ControlMode Status Signal Object

GetDeviceEnable(bool)

Indicates if device is actuator enabled.

This refreshes and returns a cached StatusSignal object. 
StatusSignal<DeviceEnableValue> GetDeviceEnable(bool refresh = true)

Parameters

refresh bool

Whether to refresh the StatusSignal before returning it; defaults to true

Returns

StatusSignal<DeviceEnableValue>

DeviceEnable Status Signal Object

GetDeviceTemp(bool)

Temperature of device.

This is the temperature that the device measures itself to be at. Similar to Processor Temperature.
  • Minimum Value0.0
  • Maximum Value255.0
  • Default Value0
  • Units℃

This refreshes and returns a cached StatusSignal object. 
StatusSignal<double> GetDeviceTemp(bool refresh = true)

Parameters

refresh bool

Whether to refresh the StatusSignal before returning it; defaults to true

Returns

StatusSignal<double>

DeviceTemp Status Signal Object

GetDifferentialAveragePosition(bool)

Average component of the differential position of device.

  • Minimum Value-16384.0
  • Maximum Value16383.999755859375
  • Default Value0
  • Unitsrotations

This refreshes and returns a cached StatusSignal object. 
StatusSignal<double> GetDifferentialAveragePosition(bool refresh = true)

Parameters

refresh bool

Whether to refresh the StatusSignal before returning it; defaults to true

Returns

StatusSignal<double>

DifferentialAveragePosition Status Signal Object

GetDifferentialAverageVelocity(bool)

Average component of the differential velocity of device.

  • Minimum Value-512.0
  • Maximum Value511.998046875
  • Default Value0
  • Unitsrotations per second

This refreshes and returns a cached StatusSignal object. 
StatusSignal<double> GetDifferentialAverageVelocity(bool refresh = true)

Parameters

refresh bool

Whether to refresh the StatusSignal before returning it; defaults to true

Returns

StatusSignal<double>

DifferentialAverageVelocity Status Signal Object

GetDifferentialClosedLoopDerivativeOutput(bool)

Differential closed loop derivative component.

The portion of the differential closed loop output (on the difference axis) that is proportional to the deriviative of error. Alternatively, the kD contribution of the closed loop output.

This refreshes and returns a cached StatusSignal object. 
StatusSignal<double> GetDifferentialClosedLoopDerivativeOutput(bool refresh = true)

Parameters

refresh bool

Whether to refresh the StatusSignal before returning it; defaults to true

Returns

StatusSignal<double>

DifferentialClosedLoopDerivativeOutput Status Signal object

GetDifferentialClosedLoopError(bool)

The difference between target differential reference and current measurement.

This is the value that is treated as the error in the differential PID loop (on the difference axis).

This refreshes and returns a cached StatusSignal object. 
StatusSignal<double> GetDifferentialClosedLoopError(bool refresh = true)

Parameters

refresh bool

Whether to refresh the StatusSignal before returning it; defaults to true

Returns

StatusSignal<double>

DifferentialClosedLoopError Status Signal object

GetDifferentialClosedLoopFeedForward(bool)

Differential Feedforward passed by the user.

This is the general feedforward that the user provides for the differential closed loop (on the difference axis).

This refreshes and returns a cached StatusSignal object. 
StatusSignal<double> GetDifferentialClosedLoopFeedForward(bool refresh = true)

Parameters

refresh bool

Whether to refresh the StatusSignal before returning it; defaults to true

Returns

StatusSignal<double>

DifferentialClosedLoopFeedForward Status Signal object

GetDifferentialClosedLoopIntegratedOutput(bool)

Differential closed loop integrated component.

The portion of the differential closed loop output (on the difference axis) that is proportional to the integrated error. Alternatively, the kI contribution of the closed loop output.

This refreshes and returns a cached StatusSignal object. 
StatusSignal<double> GetDifferentialClosedLoopIntegratedOutput(bool refresh = true)

Parameters

refresh bool

Whether to refresh the StatusSignal before returning it; defaults to true

Returns

StatusSignal<double>

DifferentialClosedLoopIntegratedOutput Status Signal object

GetDifferentialClosedLoopOutput(bool)

Differential closed loop total output.

The total output of the differential closed loop output (on the difference axis).

This refreshes and returns a cached StatusSignal object. 
StatusSignal<double> GetDifferentialClosedLoopOutput(bool refresh = true)

Parameters

refresh bool

Whether to refresh the StatusSignal before returning it; defaults to true

Returns

StatusSignal<double>

DifferentialClosedLoopOutput Status Signal object

GetDifferentialClosedLoopProportionalOutput(bool)

Differential closed loop proportional component.

The portion of the differential closed loop output (on the difference axis) that is proportional to the error. Alternatively, the kP contribution of the closed loop output.

This refreshes and returns a cached StatusSignal object. 
StatusSignal<double> GetDifferentialClosedLoopProportionalOutput(bool refresh = true)

Parameters

refresh bool

Whether to refresh the StatusSignal before returning it; defaults to true

Returns

StatusSignal<double>

DifferentialClosedLoopProportionalOutput Status Signal object

GetDifferentialClosedLoopReference(bool)

Value that the differential closed loop is targeting.

This is the value that the differential closed loop PID controller targets (on the difference axis).

This refreshes and returns a cached StatusSignal object. 
StatusSignal<double> GetDifferentialClosedLoopReference(bool refresh = true)

Parameters

refresh bool

Whether to refresh the StatusSignal before returning it; defaults to true

Returns

StatusSignal<double>

DifferentialClosedLoopReference Status Signal object

GetDifferentialClosedLoopReferenceSlope(bool)

Derivative of the target that the differential closed loop is targeting.

This is the change in the closed loop reference (on the difference axis). This may be used in the feed-forward calculation, the derivative-error, or in application of the signage for kS. Typically, this represents the target velocity during Motion Magic®.

This refreshes and returns a cached StatusSignal object. 
StatusSignal<double> GetDifferentialClosedLoopReferenceSlope(bool refresh = true)

Parameters

refresh bool

Whether to refresh the StatusSignal before returning it; defaults to true

Returns

StatusSignal<double>

DifferentialClosedLoopReferenceSlope Status Signal object

GetDifferentialClosedLoopSlot(bool)

The slot that the closed-loop differential PID is using.

  • Minimum Value0
  • Maximum Value2
  • Default Value0
  • Units

This refreshes and returns a cached StatusSignal object. 
StatusSignal<int> GetDifferentialClosedLoopSlot(bool refresh = true)

Parameters

refresh bool

Whether to refresh the StatusSignal before returning it; defaults to true

Returns

StatusSignal<int>

DifferentialClosedLoopSlot Status Signal Object

GetDifferentialControlMode(bool)

The active control mode of the differential controller.

This refreshes and returns a cached StatusSignal object. 
StatusSignal<DifferentialControlModeValue> GetDifferentialControlMode(bool refresh = true)

Parameters

refresh bool

Whether to refresh the StatusSignal before returning it; defaults to true

Returns

StatusSignal<DifferentialControlModeValue>

DifferentialControlMode Status Signal Object

GetDifferentialDifferencePosition(bool)

Difference component of the differential position of device.

  • Minimum Value-16384.0
  • Maximum Value16383.999755859375
  • Default Value0
  • Unitsrotations

This refreshes and returns a cached StatusSignal object. 
StatusSignal<double> GetDifferentialDifferencePosition(bool refresh = true)

Parameters

refresh bool

Whether to refresh the StatusSignal before returning it; defaults to true

Returns

StatusSignal<double>

DifferentialDifferencePosition Status Signal Object

GetDifferentialDifferenceVelocity(bool)

Difference component of the differential velocity of device.

  • Minimum Value-512.0
  • Maximum Value511.998046875
  • Default Value0
  • Unitsrotations per second

This refreshes and returns a cached StatusSignal object. 
StatusSignal<double> GetDifferentialDifferenceVelocity(bool refresh = true)

Parameters

refresh bool

Whether to refresh the StatusSignal before returning it; defaults to true

Returns

StatusSignal<double>

DifferentialDifferenceVelocity Status Signal Object

GetDifferentialOutput(bool)

The calculated motor output for differential followers.

This is a torque request when using the TorqueCurrentFOC control output type, a voltage request when using the Voltage control output type, and a duty cycle when using the DutyCycle control output type.

This refreshes and returns a cached StatusSignal object. 
StatusSignal<double> GetDifferentialOutput(bool refresh = true)

Parameters

refresh bool

Whether to refresh the StatusSignal before returning it; defaults to true

Returns

StatusSignal<double>

DifferentialOutput Status Signal object

GetDutyCycle(bool)

The applied motor duty cycle.

  • Minimum Value-2.0
  • Maximum Value1.9990234375
  • Default Value0
  • Unitsfractional

This refreshes and returns a cached StatusSignal object. 
StatusSignal<double> GetDutyCycle(bool refresh = true)

Parameters

refresh bool

Whether to refresh the StatusSignal before returning it; defaults to true

Returns

StatusSignal<double>

DutyCycle Status Signal Object

GetFaultField(bool)

Integer representing all fault flags reported by the device.

These are device specific and are not used directly in typical applications. Use the signal specific GetFault_*() methods instead.
  • Minimum Value0
  • Maximum Value4294967295
  • Default Value0
  • Units

This refreshes and returns a cached StatusSignal object. 
StatusSignal<int> GetFaultField(bool refresh = true)

Parameters

refresh bool

Whether to refresh the StatusSignal before returning it; defaults to true

Returns

StatusSignal<int>

FaultField Status Signal Object

GetFault_BootDuringEnable(bool)

Device boot while detecting the enable signal

  • Default ValueFalse

This refreshes and returns a cached StatusSignal object. 
StatusSignal<bool> GetFault_BootDuringEnable(bool refresh = true)

Parameters

refresh bool

Whether to refresh the StatusSignal before returning it; defaults to true

Returns

StatusSignal<bool>

Fault_BootDuringEnable Status Signal Object

GetFault_BridgeBrownout(bool)

Bridge was disabled most likely due to supply voltage dropping too low.

  • Default ValueFalse

This refreshes and returns a cached StatusSignal object. 
StatusSignal<bool> GetFault_BridgeBrownout(bool refresh = true)

Parameters

refresh bool

Whether to refresh the StatusSignal before returning it; defaults to true

Returns

StatusSignal<bool>

Fault_BridgeBrownout Status Signal Object

GetFault_DeviceTemp(bool)

Device temperature exceeded limit

  • Default ValueFalse

This refreshes and returns a cached StatusSignal object. 
StatusSignal<bool> GetFault_DeviceTemp(bool refresh = true)

Parameters

refresh bool

Whether to refresh the StatusSignal before returning it; defaults to true

Returns

StatusSignal<bool>

Fault_DeviceTemp Status Signal Object

GetFault_ForwardHardLimit(bool)

Forward limit switch has been asserted. Output is set to neutral.

  • Default ValueFalse

This refreshes and returns a cached StatusSignal object. 
StatusSignal<bool> GetFault_ForwardHardLimit(bool refresh = true)

Parameters

refresh bool

Whether to refresh the StatusSignal before returning it; defaults to true

Returns

StatusSignal<bool>

Fault_ForwardHardLimit Status Signal Object

GetFault_ForwardSoftLimit(bool)

Forward soft limit has been asserted. Output is set to neutral.

  • Default ValueFalse

This refreshes and returns a cached StatusSignal object. 
StatusSignal<bool> GetFault_ForwardSoftLimit(bool refresh = true)

Parameters

refresh bool

Whether to refresh the StatusSignal before returning it; defaults to true

Returns

StatusSignal<bool>

Fault_ForwardSoftLimit Status Signal Object

GetFault_FusedSensorOutOfSync(bool)

The remote sensor used for fusion has fallen out of sync to the local sensor. A re-synchronization has occurred, which may cause a discontinuity. This typically happens if there is significant slop in the mechanism, or if the RotorToSensorRatio configuration parameter is incorrect.

  • Default ValueFalse

This refreshes and returns a cached StatusSignal object. 
StatusSignal<bool> GetFault_FusedSensorOutOfSync(bool refresh = true)

Parameters

refresh bool

Whether to refresh the StatusSignal before returning it; defaults to true

Returns

StatusSignal<bool>

Fault_FusedSensorOutOfSync Status Signal Object

GetFault_Hardware(bool)

Hardware fault occurred

  • Default ValueFalse

This refreshes and returns a cached StatusSignal object. 
StatusSignal<bool> GetFault_Hardware(bool refresh = true)

Parameters

refresh bool

Whether to refresh the StatusSignal before returning it; defaults to true

Returns

StatusSignal<bool>

Fault_Hardware Status Signal Object

GetFault_MissingDifferentialFX(bool)

The remote Talon used for differential control is not present on CAN Bus.

  • Default ValueFalse

This refreshes and returns a cached StatusSignal object. 
StatusSignal<bool> GetFault_MissingDifferentialFX(bool refresh = true)

Parameters

refresh bool

Whether to refresh the StatusSignal before returning it; defaults to true

Returns

StatusSignal<bool>

Fault_MissingDifferentialFX Status Signal Object

GetFault_MissingHardLimitRemote(bool)

The remote limit switch device is not present on CAN Bus.

  • Default ValueFalse

This refreshes and returns a cached StatusSignal object. 
StatusSignal<bool> GetFault_MissingHardLimitRemote(bool refresh = true)

Parameters

refresh bool

Whether to refresh the StatusSignal before returning it; defaults to true

Returns

StatusSignal<bool>

Fault_MissingHardLimitRemote Status Signal Object

GetFault_MissingSoftLimitRemote(bool)

The remote soft limit device is not present on CAN Bus.

  • Default ValueFalse

This refreshes and returns a cached StatusSignal object. 
StatusSignal<bool> GetFault_MissingSoftLimitRemote(bool refresh = true)

Parameters

refresh bool

Whether to refresh the StatusSignal before returning it; defaults to true

Returns

StatusSignal<bool>

Fault_MissingSoftLimitRemote Status Signal Object

GetFault_OverSupplyV(bool)

Supply Voltage has exceeded the maximum voltage rating of device.

  • Default ValueFalse

This refreshes and returns a cached StatusSignal object. 
StatusSignal<bool> GetFault_OverSupplyV(bool refresh = true)

Parameters

refresh bool

Whether to refresh the StatusSignal before returning it; defaults to true

Returns

StatusSignal<bool>

Fault_OverSupplyV Status Signal Object

GetFault_ProcTemp(bool)

Processor temperature exceeded limit

  • Default ValueFalse

This refreshes and returns a cached StatusSignal object. 
StatusSignal<bool> GetFault_ProcTemp(bool refresh = true)

Parameters

refresh bool

Whether to refresh the StatusSignal before returning it; defaults to true

Returns

StatusSignal<bool>

Fault_ProcTemp Status Signal Object

GetFault_RemoteSensorDataInvalid(bool)

The remote sensor's data is no longer trusted. This can happen if the remote sensor disappears from the CAN bus or if the remote sensor indicates its data is no longer valid, such as when a CANcoder's magnet strength falls into the "red" range.

  • Default ValueFalse

This refreshes and returns a cached StatusSignal object. 
StatusSignal<bool> GetFault_RemoteSensorDataInvalid(bool refresh = true)

Parameters

refresh bool

Whether to refresh the StatusSignal before returning it; defaults to true

Returns

StatusSignal<bool>

Fault_RemoteSensorDataInvalid Status Signal Object

GetFault_RemoteSensorPosOverflow(bool)

The remote sensor position has overflowed. Because of the nature of remote sensors, it is possible for the remote sensor position to overflow beyond what is supported by the status signal frame. However, this is rare and cannot occur over the course of an FRC match under normal use.

  • Default ValueFalse

This refreshes and returns a cached StatusSignal object. 
StatusSignal<bool> GetFault_RemoteSensorPosOverflow(bool refresh = true)

Parameters

refresh bool

Whether to refresh the StatusSignal before returning it; defaults to true

Returns

StatusSignal<bool>

Fault_RemoteSensorPosOverflow Status Signal Object

GetFault_RemoteSensorReset(bool)

The remote sensor has reset.

  • Default ValueFalse

This refreshes and returns a cached StatusSignal object. 
StatusSignal<bool> GetFault_RemoteSensorReset(bool refresh = true)

Parameters

refresh bool

Whether to refresh the StatusSignal before returning it; defaults to true

Returns

StatusSignal<bool>

Fault_RemoteSensorReset Status Signal Object

GetFault_ReverseHardLimit(bool)

Reverse limit switch has been asserted. Output is set to neutral.

  • Default ValueFalse

This refreshes and returns a cached StatusSignal object. 
StatusSignal<bool> GetFault_ReverseHardLimit(bool refresh = true)

Parameters

refresh bool

Whether to refresh the StatusSignal before returning it; defaults to true

Returns

StatusSignal<bool>

Fault_ReverseHardLimit Status Signal Object

GetFault_ReverseSoftLimit(bool)

Reverse soft limit has been asserted. Output is set to neutral.

  • Default ValueFalse

This refreshes and returns a cached StatusSignal object. 
StatusSignal<bool> GetFault_ReverseSoftLimit(bool refresh = true)

Parameters

refresh bool

Whether to refresh the StatusSignal before returning it; defaults to true

Returns

StatusSignal<bool>

Fault_ReverseSoftLimit Status Signal Object

GetFault_StaticBrakeDisabled(bool)

Static brake was momentarily disabled due to excessive braking current while disabled.

  • Default ValueFalse

This refreshes and returns a cached StatusSignal object. 
StatusSignal<bool> GetFault_StaticBrakeDisabled(bool refresh = true)

Parameters

refresh bool

Whether to refresh the StatusSignal before returning it; defaults to true

Returns

StatusSignal<bool>

Fault_StaticBrakeDisabled Status Signal Object

GetFault_StatorCurrLimit(bool)

Stator current limit occured.

  • Default ValueFalse

This refreshes and returns a cached StatusSignal object. 
StatusSignal<bool> GetFault_StatorCurrLimit(bool refresh = true)

Parameters

refresh bool

Whether to refresh the StatusSignal before returning it; defaults to true

Returns

StatusSignal<bool>

Fault_StatorCurrLimit Status Signal Object

GetFault_SupplyCurrLimit(bool)

Supply current limit occured.

  • Default ValueFalse

This refreshes and returns a cached StatusSignal object. 
StatusSignal<bool> GetFault_SupplyCurrLimit(bool refresh = true)

Parameters

refresh bool

Whether to refresh the StatusSignal before returning it; defaults to true

Returns

StatusSignal<bool>

Fault_SupplyCurrLimit Status Signal Object

GetFault_Undervoltage(bool)

Device supply voltage dropped to near brownout levels

  • Default ValueFalse

This refreshes and returns a cached StatusSignal object. 
StatusSignal<bool> GetFault_Undervoltage(bool refresh = true)

Parameters

refresh bool

Whether to refresh the StatusSignal before returning it; defaults to true

Returns

StatusSignal<bool>

Fault_Undervoltage Status Signal Object

GetFault_UnlicensedFeatureInUse(bool)

An unlicensed feature is in use, device may not behave as expected.

  • Default ValueFalse

This refreshes and returns a cached StatusSignal object. 
StatusSignal<bool> GetFault_UnlicensedFeatureInUse(bool refresh = true)

Parameters

refresh bool

Whether to refresh the StatusSignal before returning it; defaults to true

Returns

StatusSignal<bool>

Fault_UnlicensedFeatureInUse Status Signal Object

GetFault_UnstableSupplyV(bool)

Supply Voltage is unstable. Ensure you are using a battery and current limited power supply.

  • Default ValueFalse

This refreshes and returns a cached StatusSignal object. 
StatusSignal<bool> GetFault_UnstableSupplyV(bool refresh = true)

Parameters

refresh bool

Whether to refresh the StatusSignal before returning it; defaults to true

Returns

StatusSignal<bool>

Fault_UnstableSupplyV Status Signal Object

GetFault_UsingFusedCANcoderWhileUnlicensed(bool)

Using Fused CANcoder feature while unlicensed. Device has fallen back to remote CANcoder.

  • Default ValueFalse

This refreshes and returns a cached StatusSignal object. 
StatusSignal<bool> GetFault_UsingFusedCANcoderWhileUnlicensed(bool refresh = true)

Parameters

refresh bool

Whether to refresh the StatusSignal before returning it; defaults to true

Returns

StatusSignal<bool>

Fault_UsingFusedCANcoderWhileUnlicensed Status Signal Object

GetForwardLimit(bool)

Forward Limit Pin.

This refreshes and returns a cached StatusSignal object. 
StatusSignal<ForwardLimitValue> GetForwardLimit(bool refresh = true)

Parameters

refresh bool

Whether to refresh the StatusSignal before returning it; defaults to true

Returns

StatusSignal<ForwardLimitValue>

ForwardLimit Status Signal Object

GetIsProLicensed(bool)

Whether the device is Phoenix Pro licensed.

  • Default ValueFalse

This refreshes and returns a cached StatusSignal object. 
StatusSignal<bool> GetIsProLicensed(bool refresh = true)

Parameters

refresh bool

Whether to refresh the StatusSignal before returning it; defaults to true

Returns

StatusSignal<bool>

IsProLicensed Status Signal Object

GetMotionMagicAtTarget(bool)

Check if the Motion Magic® profile has reached the target. This is equivalent to checking that MotionMagicIsRunning, the ClosedLoopReference is the target, and the ClosedLoopReferenceSlope is 0.

  • Default ValueFalse

This refreshes and returns a cached StatusSignal object. 
StatusSignal<bool> GetMotionMagicAtTarget(bool refresh = true)

Parameters

refresh bool

Whether to refresh the StatusSignal before returning it; defaults to true

Returns

StatusSignal<bool>

MotionMagicAtTarget Status Signal Object

GetMotionMagicIsRunning(bool)

Check if Motion Magic® is running. This is equivalent to checking that the reported control mode is a Motion Magic® based mode.

  • Default ValueFalse

This refreshes and returns a cached StatusSignal object. 
StatusSignal<bool> GetMotionMagicIsRunning(bool refresh = true)

Parameters

refresh bool

Whether to refresh the StatusSignal before returning it; defaults to true

Returns

StatusSignal<bool>

MotionMagicIsRunning Status Signal Object

GetMotorKT(bool)

The torque constant (K_T) of the motor.

  • Minimum Value0.0
  • Maximum Value0.025500000000000002
  • Default Value0
  • UnitsNm/A

This refreshes and returns a cached StatusSignal object. 
StatusSignal<double> GetMotorKT(bool refresh = true)

Parameters

refresh bool

Whether to refresh the StatusSignal before returning it; defaults to true

Returns

StatusSignal<double>

MotorKT Status Signal Object

GetMotorKV(bool)

The velocity constant (K_V) of the motor.

  • Minimum Value0.0
  • Maximum Value2047.0
  • Default Value0
  • UnitsRPM/V

This refreshes and returns a cached StatusSignal object. 
StatusSignal<double> GetMotorKV(bool refresh = true)

Parameters

refresh bool

Whether to refresh the StatusSignal before returning it; defaults to true

Returns

StatusSignal<double>

MotorKV Status Signal Object

GetMotorOutputStatus(bool)

Assess the status of the motor output with respect to load and supply.

This routine can be used to determine the general status of motor commutation.

This refreshes and returns a cached StatusSignal object. 
StatusSignal<MotorOutputStatusValue> GetMotorOutputStatus(bool refresh = true)

Parameters

refresh bool

Whether to refresh the StatusSignal before returning it; defaults to true

Returns

StatusSignal<MotorOutputStatusValue>

MotorOutputStatus Status Signal Object

GetMotorStallCurrent(bool)

The stall current of the motor at 12 V output.

  • Minimum Value0.0
  • Maximum Value1023.0
  • Default Value0
  • UnitsA

This refreshes and returns a cached StatusSignal object. 
StatusSignal<double> GetMotorStallCurrent(bool refresh = true)

Parameters

refresh bool

Whether to refresh the StatusSignal before returning it; defaults to true

Returns

StatusSignal<double>

MotorStallCurrent Status Signal Object

GetMotorVoltage(bool)

The applied (output) motor voltage.

  • Minimum Value-40.96
  • Maximum Value40.95
  • Default Value0
  • UnitsV

This refreshes and returns a cached StatusSignal object. 
StatusSignal<double> GetMotorVoltage(bool refresh = true)

Parameters

refresh bool

Whether to refresh the StatusSignal before returning it; defaults to true

Returns

StatusSignal<double>

MotorVoltage Status Signal Object

GetPosition(bool)

Position of the device in mechanism rotations. This can be the position of a remote sensor and is affected by the RotorToSensorRatio and SensorToMechanismRatio configs, as well as calls to setPosition.

  • Minimum Value-16384.0
  • Maximum Value16383.999755859375
  • Default Value0
  • Unitsrotations

This refreshes and returns a cached StatusSignal object. 
StatusSignal<double> GetPosition(bool refresh = true)

Parameters

refresh bool

Whether to refresh the StatusSignal before returning it; defaults to true

Returns

StatusSignal<double>

Position Status Signal Object

GetProcessorTemp(bool)

Temperature of the processor.

This is the temperature that the processor measures itself to be at. Similar to Device Temperature.
  • Minimum Value0.0
  • Maximum Value255.0
  • Default Value0
  • Units℃

This refreshes and returns a cached StatusSignal object. 
StatusSignal<double> GetProcessorTemp(bool refresh = true)

Parameters

refresh bool

Whether to refresh the StatusSignal before returning it; defaults to true

Returns

StatusSignal<double>

ProcessorTemp Status Signal Object

GetReverseLimit(bool)

Reverse Limit Pin.

This refreshes and returns a cached StatusSignal object. 
StatusSignal<ReverseLimitValue> GetReverseLimit(bool refresh = true)

Parameters

refresh bool

Whether to refresh the StatusSignal before returning it; defaults to true

Returns

StatusSignal<ReverseLimitValue>

ReverseLimit Status Signal Object

GetRobotEnable(bool)

Indicates if the robot is enabled.

This refreshes and returns a cached StatusSignal object. 
StatusSignal<RobotEnableValue> GetRobotEnable(bool refresh = true)

Parameters

refresh bool

Whether to refresh the StatusSignal before returning it; defaults to true

Returns

StatusSignal<RobotEnableValue>

RobotEnable Status Signal Object

GetRotorPosition(bool)

Position of the motor rotor. This position is only affected by the RotorOffset config and calls to setPosition.

  • Minimum Value-16384.0
  • Maximum Value16383.999755859375
  • Default Value0
  • Unitsrotations

This refreshes and returns a cached StatusSignal object. 
StatusSignal<double> GetRotorPosition(bool refresh = true)

Parameters

refresh bool

Whether to refresh the StatusSignal before returning it; defaults to true

Returns

StatusSignal<double>

RotorPosition Status Signal Object

GetRotorVelocity(bool)

Velocity of the motor rotor. This velocity is not affected by any feedback configs.

  • Minimum Value-512.0
  • Maximum Value511.998046875
  • Default Value0
  • Unitsrotations per second

This refreshes and returns a cached StatusSignal object. 
StatusSignal<double> GetRotorVelocity(bool refresh = true)

Parameters

refresh bool

Whether to refresh the StatusSignal before returning it; defaults to true

Returns

StatusSignal<double>

RotorVelocity Status Signal Object

GetStatorCurrent(bool)

Current corresponding to the stator windings. Similar to TorqueCurrent. Users will likely prefer TorqueCurrent over StatorCurrent.

Stator current where Positive current indicates motoring regardless of direction. Negative current indicates regenerative braking regardless of direction.
  • Minimum Value-327.68
  • Maximum Value327.66
  • Default Value0
  • UnitsA

This refreshes and returns a cached StatusSignal object. 
StatusSignal<double> GetStatorCurrent(bool refresh = true)

Parameters

refresh bool

Whether to refresh the StatusSignal before returning it; defaults to true

Returns

StatusSignal<double>

StatorCurrent Status Signal Object

GetStickyFaultField(bool)

Integer representing all (persistent) sticky fault flags reported by the device.

These are device specific and are not used directly in typical applications. Use the signal specific GetStickyFault_*() methods instead.
  • Minimum Value0
  • Maximum Value4294967295
  • Default Value0
  • Units

This refreshes and returns a cached StatusSignal object. 
StatusSignal<int> GetStickyFaultField(bool refresh = true)

Parameters

refresh bool

Whether to refresh the StatusSignal before returning it; defaults to true

Returns

StatusSignal<int>

StickyFaultField Status Signal Object

GetStickyFault_BootDuringEnable(bool)

Device boot while detecting the enable signal

  • Default ValueFalse

This refreshes and returns a cached StatusSignal object. 
StatusSignal<bool> GetStickyFault_BootDuringEnable(bool refresh = true)

Parameters

refresh bool

Whether to refresh the StatusSignal before returning it; defaults to true

Returns

StatusSignal<bool>

StickyFault_BootDuringEnable Status Signal Object

GetStickyFault_BridgeBrownout(bool)

Bridge was disabled most likely due to supply voltage dropping too low.

  • Default ValueFalse

This refreshes and returns a cached StatusSignal object. 
StatusSignal<bool> GetStickyFault_BridgeBrownout(bool refresh = true)

Parameters

refresh bool

Whether to refresh the StatusSignal before returning it; defaults to true

Returns

StatusSignal<bool>

StickyFault_BridgeBrownout Status Signal Object

GetStickyFault_DeviceTemp(bool)

Device temperature exceeded limit

  • Default ValueFalse

This refreshes and returns a cached StatusSignal object. 
StatusSignal<bool> GetStickyFault_DeviceTemp(bool refresh = true)

Parameters

refresh bool

Whether to refresh the StatusSignal before returning it; defaults to true

Returns

StatusSignal<bool>

StickyFault_DeviceTemp Status Signal Object

GetStickyFault_ForwardHardLimit(bool)

Forward limit switch has been asserted. Output is set to neutral.

  • Default ValueFalse

This refreshes and returns a cached StatusSignal object. 
StatusSignal<bool> GetStickyFault_ForwardHardLimit(bool refresh = true)

Parameters

refresh bool

Whether to refresh the StatusSignal before returning it; defaults to true

Returns

StatusSignal<bool>

StickyFault_ForwardHardLimit Status Signal Object

GetStickyFault_ForwardSoftLimit(bool)

Forward soft limit has been asserted. Output is set to neutral.

  • Default ValueFalse

This refreshes and returns a cached StatusSignal object. 
StatusSignal<bool> GetStickyFault_ForwardSoftLimit(bool refresh = true)

Parameters

refresh bool

Whether to refresh the StatusSignal before returning it; defaults to true

Returns

StatusSignal<bool>

StickyFault_ForwardSoftLimit Status Signal Object

GetStickyFault_FusedSensorOutOfSync(bool)

The remote sensor used for fusion has fallen out of sync to the local sensor. A re-synchronization has occurred, which may cause a discontinuity. This typically happens if there is significant slop in the mechanism, or if the RotorToSensorRatio configuration parameter is incorrect.

  • Default ValueFalse

This refreshes and returns a cached StatusSignal object. 
StatusSignal<bool> GetStickyFault_FusedSensorOutOfSync(bool refresh = true)

Parameters

refresh bool

Whether to refresh the StatusSignal before returning it; defaults to true

Returns

StatusSignal<bool>

StickyFault_FusedSensorOutOfSync Status Signal Object

GetStickyFault_Hardware(bool)

Hardware fault occurred

  • Default ValueFalse

This refreshes and returns a cached StatusSignal object. 
StatusSignal<bool> GetStickyFault_Hardware(bool refresh = true)

Parameters

refresh bool

Whether to refresh the StatusSignal before returning it; defaults to true

Returns

StatusSignal<bool>

StickyFault_Hardware Status Signal Object

GetStickyFault_MissingDifferentialFX(bool)

The remote Talon used for differential control is not present on CAN Bus.

  • Default ValueFalse

This refreshes and returns a cached StatusSignal object. 
StatusSignal<bool> GetStickyFault_MissingDifferentialFX(bool refresh = true)

Parameters

refresh bool

Whether to refresh the StatusSignal before returning it; defaults to true

Returns

StatusSignal<bool>

StickyFault_MissingDifferentialFX Status Signal Object

GetStickyFault_MissingHardLimitRemote(bool)

The remote limit switch device is not present on CAN Bus.

  • Default ValueFalse

This refreshes and returns a cached StatusSignal object. 
StatusSignal<bool> GetStickyFault_MissingHardLimitRemote(bool refresh = true)

Parameters

refresh bool

Whether to refresh the StatusSignal before returning it; defaults to true

Returns

StatusSignal<bool>

StickyFault_MissingHardLimitRemote Status Signal Object

GetStickyFault_MissingSoftLimitRemote(bool)

The remote soft limit device is not present on CAN Bus.

  • Default ValueFalse

This refreshes and returns a cached StatusSignal object. 
StatusSignal<bool> GetStickyFault_MissingSoftLimitRemote(bool refresh = true)

Parameters

refresh bool

Whether to refresh the StatusSignal before returning it; defaults to true

Returns

StatusSignal<bool>

StickyFault_MissingSoftLimitRemote Status Signal Object

GetStickyFault_OverSupplyV(bool)

Supply Voltage has exceeded the maximum voltage rating of device.

  • Default ValueFalse

This refreshes and returns a cached StatusSignal object. 
StatusSignal<bool> GetStickyFault_OverSupplyV(bool refresh = true)

Parameters

refresh bool

Whether to refresh the StatusSignal before returning it; defaults to true

Returns

StatusSignal<bool>

StickyFault_OverSupplyV Status Signal Object

GetStickyFault_ProcTemp(bool)

Processor temperature exceeded limit

  • Default ValueFalse

This refreshes and returns a cached StatusSignal object. 
StatusSignal<bool> GetStickyFault_ProcTemp(bool refresh = true)

Parameters

refresh bool

Whether to refresh the StatusSignal before returning it; defaults to true

Returns

StatusSignal<bool>

StickyFault_ProcTemp Status Signal Object

GetStickyFault_RemoteSensorDataInvalid(bool)

The remote sensor's data is no longer trusted. This can happen if the remote sensor disappears from the CAN bus or if the remote sensor indicates its data is no longer valid, such as when a CANcoder's magnet strength falls into the "red" range.

  • Default ValueFalse

This refreshes and returns a cached StatusSignal object. 
StatusSignal<bool> GetStickyFault_RemoteSensorDataInvalid(bool refresh = true)

Parameters

refresh bool

Whether to refresh the StatusSignal before returning it; defaults to true

Returns

StatusSignal<bool>

StickyFault_RemoteSensorDataInvalid Status Signal Object

GetStickyFault_RemoteSensorPosOverflow(bool)

The remote sensor position has overflowed. Because of the nature of remote sensors, it is possible for the remote sensor position to overflow beyond what is supported by the status signal frame. However, this is rare and cannot occur over the course of an FRC match under normal use.

  • Default ValueFalse

This refreshes and returns a cached StatusSignal object. 
StatusSignal<bool> GetStickyFault_RemoteSensorPosOverflow(bool refresh = true)

Parameters

refresh bool

Whether to refresh the StatusSignal before returning it; defaults to true

Returns

StatusSignal<bool>

StickyFault_RemoteSensorPosOverflow Status Signal Object

GetStickyFault_RemoteSensorReset(bool)

The remote sensor has reset.

  • Default ValueFalse

This refreshes and returns a cached StatusSignal object. 
StatusSignal<bool> GetStickyFault_RemoteSensorReset(bool refresh = true)

Parameters

refresh bool

Whether to refresh the StatusSignal before returning it; defaults to true

Returns

StatusSignal<bool>

StickyFault_RemoteSensorReset Status Signal Object

GetStickyFault_ReverseHardLimit(bool)

Reverse limit switch has been asserted. Output is set to neutral.

  • Default ValueFalse

This refreshes and returns a cached StatusSignal object. 
StatusSignal<bool> GetStickyFault_ReverseHardLimit(bool refresh = true)

Parameters

refresh bool

Whether to refresh the StatusSignal before returning it; defaults to true

Returns

StatusSignal<bool>

StickyFault_ReverseHardLimit Status Signal Object

GetStickyFault_ReverseSoftLimit(bool)

Reverse soft limit has been asserted. Output is set to neutral.

  • Default ValueFalse

This refreshes and returns a cached StatusSignal object. 
StatusSignal<bool> GetStickyFault_ReverseSoftLimit(bool refresh = true)

Parameters

refresh bool

Whether to refresh the StatusSignal before returning it; defaults to true

Returns

StatusSignal<bool>

StickyFault_ReverseSoftLimit Status Signal Object

GetStickyFault_StaticBrakeDisabled(bool)

Static brake was momentarily disabled due to excessive braking current while disabled.

  • Default ValueFalse

This refreshes and returns a cached StatusSignal object. 
StatusSignal<bool> GetStickyFault_StaticBrakeDisabled(bool refresh = true)

Parameters

refresh bool

Whether to refresh the StatusSignal before returning it; defaults to true

Returns

StatusSignal<bool>

StickyFault_StaticBrakeDisabled Status Signal Object

GetStickyFault_StatorCurrLimit(bool)

Stator current limit occured.

  • Default ValueFalse

This refreshes and returns a cached StatusSignal object. 
StatusSignal<bool> GetStickyFault_StatorCurrLimit(bool refresh = true)

Parameters

refresh bool

Whether to refresh the StatusSignal before returning it; defaults to true

Returns

StatusSignal<bool>

StickyFault_StatorCurrLimit Status Signal Object

GetStickyFault_SupplyCurrLimit(bool)

Supply current limit occured.

  • Default ValueFalse

This refreshes and returns a cached StatusSignal object. 
StatusSignal<bool> GetStickyFault_SupplyCurrLimit(bool refresh = true)

Parameters

refresh bool

Whether to refresh the StatusSignal before returning it; defaults to true

Returns

StatusSignal<bool>

StickyFault_SupplyCurrLimit Status Signal Object

GetStickyFault_Undervoltage(bool)

Device supply voltage dropped to near brownout levels

  • Default ValueFalse

This refreshes and returns a cached StatusSignal object. 
StatusSignal<bool> GetStickyFault_Undervoltage(bool refresh = true)

Parameters

refresh bool

Whether to refresh the StatusSignal before returning it; defaults to true

Returns

StatusSignal<bool>

StickyFault_Undervoltage Status Signal Object

GetStickyFault_UnlicensedFeatureInUse(bool)

An unlicensed feature is in use, device may not behave as expected.

  • Default ValueFalse

This refreshes and returns a cached StatusSignal object. 
StatusSignal<bool> GetStickyFault_UnlicensedFeatureInUse(bool refresh = true)

Parameters

refresh bool

Whether to refresh the StatusSignal before returning it; defaults to true

Returns

StatusSignal<bool>

StickyFault_UnlicensedFeatureInUse Status Signal Object

GetStickyFault_UnstableSupplyV(bool)

Supply Voltage is unstable. Ensure you are using a battery and current limited power supply.

  • Default ValueFalse

This refreshes and returns a cached StatusSignal object. 
StatusSignal<bool> GetStickyFault_UnstableSupplyV(bool refresh = true)

Parameters

refresh bool

Whether to refresh the StatusSignal before returning it; defaults to true

Returns

StatusSignal<bool>

StickyFault_UnstableSupplyV Status Signal Object

GetStickyFault_UsingFusedCANcoderWhileUnlicensed(bool)

Using Fused CANcoder feature while unlicensed. Device has fallen back to remote CANcoder.

  • Default ValueFalse

This refreshes and returns a cached StatusSignal object. 
StatusSignal<bool> GetStickyFault_UsingFusedCANcoderWhileUnlicensed(bool refresh = true)

Parameters

refresh bool

Whether to refresh the StatusSignal before returning it; defaults to true

Returns

StatusSignal<bool>

StickyFault_UsingFusedCANcoderWhileUnlicensed Status Signal Object

GetSupplyCurrent(bool)

Measured supply side current.

  • Minimum Value-327.68
  • Maximum Value327.66
  • Default Value0
  • UnitsA

This refreshes and returns a cached StatusSignal object. 
StatusSignal<double> GetSupplyCurrent(bool refresh = true)

Parameters

refresh bool

Whether to refresh the StatusSignal before returning it; defaults to true

Returns

StatusSignal<double>

SupplyCurrent Status Signal Object

GetSupplyVoltage(bool)

Measured supply voltage to the device.

  • Minimum Value4
  • Maximum Value29.575
  • Default Value4
  • UnitsV

This refreshes and returns a cached StatusSignal object. 
StatusSignal<double> GetSupplyVoltage(bool refresh = true)

Parameters

refresh bool

Whether to refresh the StatusSignal before returning it; defaults to true

Returns

StatusSignal<double>

SupplyVoltage Status Signal Object

GetTorqueCurrent(bool)

Current corresponding to the torque output by the motor. Similar to StatorCurrent. Users will likely prefer this current to calculate the applied torque to the rotor.

Stator current where positive current means torque is applied in the forward direction as determined by the Inverted setting.
  • Minimum Value-327.68
  • Maximum Value327.67
  • Default Value0
  • UnitsA

This refreshes and returns a cached StatusSignal object. 
StatusSignal<double> GetTorqueCurrent(bool refresh = true)

Parameters

refresh bool

Whether to refresh the StatusSignal before returning it; defaults to true

Returns

StatusSignal<double>

TorqueCurrent Status Signal Object

GetVelocity(bool)

Velocity of the device in mechanism rotations per second. This can be the velocity of a remote sensor and is affected by the RotorToSensorRatio and SensorToMechanismRatio configs.

  • Minimum Value-512.0
  • Maximum Value511.998046875
  • Default Value0
  • Unitsrotations per second

This refreshes and returns a cached StatusSignal object. 
StatusSignal<double> GetVelocity(bool refresh = true)

Parameters

refresh bool

Whether to refresh the StatusSignal before returning it; defaults to true

Returns

StatusSignal<double>

Velocity Status Signal Object

GetVersion(bool)

Full Version of firmware in device. The format is a four byte value.

  • Minimum Value0
  • Maximum Value4294967295
  • Default Value0
  • Units

This refreshes and returns a cached StatusSignal object. 
StatusSignal<int> GetVersion(bool refresh = true)

Parameters

refresh bool

Whether to refresh the StatusSignal before returning it; defaults to true

Returns

StatusSignal<int>

Version Status Signal Object

GetVersionBugfix(bool)

App Bugfix Version number.

  • Minimum Value0
  • Maximum Value255
  • Default Value0
  • Units

This refreshes and returns a cached StatusSignal object. 
StatusSignal<int> GetVersionBugfix(bool refresh = true)

Parameters

refresh bool

Whether to refresh the StatusSignal before returning it; defaults to true

Returns

StatusSignal<int>

VersionBugfix Status Signal Object

GetVersionBuild(bool)

App Build Version number.

  • Minimum Value0
  • Maximum Value255
  • Default Value0
  • Units

This refreshes and returns a cached StatusSignal object. 
StatusSignal<int> GetVersionBuild(bool refresh = true)

Parameters

refresh bool

Whether to refresh the StatusSignal before returning it; defaults to true

Returns

StatusSignal<int>

VersionBuild Status Signal Object

GetVersionMajor(bool)

App Major Version number.

  • Minimum Value0
  • Maximum Value255
  • Default Value0
  • Units

This refreshes and returns a cached StatusSignal object. 
StatusSignal<int> GetVersionMajor(bool refresh = true)

Parameters

refresh bool

Whether to refresh the StatusSignal before returning it; defaults to true

Returns

StatusSignal<int>

VersionMajor Status Signal Object

GetVersionMinor(bool)

App Minor Version number.

  • Minimum Value0
  • Maximum Value255
  • Default Value0
  • Units

This refreshes and returns a cached StatusSignal object. 
StatusSignal<int> GetVersionMinor(bool refresh = true)

Parameters

refresh bool

Whether to refresh the StatusSignal before returning it; defaults to true

Returns

StatusSignal<int>

VersionMinor Status Signal Object

SetPosition(double, double)

Sets the mechanism position of the device in mechanism rotations.

StatusCode SetPosition(double newValue, double timeoutSeconds = 0.1)

Parameters

newValue double

Value to set to. Units are in rotations.

timeoutSeconds double

Maximum time to wait up to in seconds.

Returns

StatusCode

StatusCode of the set command