phoenix6.hardware.talon_fx

Module Contents

class phoenix6.hardware.talon_fx.TalonFX(device_id: int, canbus: str | phoenix6.canbus.CANBus = '')

Bases: phoenix6.hardware.core.core_talon_fx.CoreTalonFX, wpiutil.Sendable

Constructs a new Talon FX motor controller object.

Parameters:

• device_id (int) – ID of the device, as configured in Phoenix Tuner.

• canbus (str | CANBus, optional) –

  Name of the CAN bus this device is on. Possible CAN bus strings are:

  • ”rio” for the native roboRIO CAN bus

  • CANivore name or serial number

  • SocketCAN interface (non-FRC Linux only)

  • ”*” for any CANivore seen by the program

  • empty string (default) to select the default for the system:

    • ”rio” on roboRIO

    • ”can0” on Linux

    • ”*” on Windows

close()

set(speed: float)

Common interface for setting the speed of a motor controller.

Parameters:

speed (float) – The speed to set. Value should be between -1.0 and 1.0.

setVoltage(volts: wpimath.units.volts)

Common interface for seting the direct voltage output of a motor controller.

Parameters:

volts (units.volts) – The voltage to output.

get() → float

Common interface for getting the current set speed of a motor controller.

Returns:

The current set speed. Value is between -1.0 and 1.0.

Return type:

float

disable()

Common interface for disabling a motor controller.

stopMotor()

Common interface to stop motor movement until set is called again.

setNeutralMode(neutralMode: phoenix6.signals.NeutralModeValue, timeout_seconds: wpimath.units.seconds = 0.1) → phoenix6.status_code.StatusCode

Sets the mode of operation when output is neutral or disabled.

Since neutral mode is a config, this API is blocking. We recommend that users avoid calling this API periodically.

Parameters:

• neutralMode (signals.NeutralModeValue) – The state of the motor controller bridge when output is neutral or disabled

• timeout_seconds (units.seconds) – Maximum amount of time to wait when performing configuration

Returns:

Status of refreshing and applying the neutral mode config

Return type:

StatusCode

initSendable(builder: wpiutil.SendableBuilder)

getDescription() → str

Returns:

Description of motor

Return type:

str

feed()

setExpiration(expirationTime: wpimath.units.seconds)

Set the expiration time for the corresponding motor safety object.

Parameters:

expirationTime (units.seconds) – The timeout value in seconds.

getExpiration() → wpimath.units.seconds

Retrieve the timeout value for the corresponding motor safety object.

Returns:

the timeout value in seconds.

Return type:

units.seconds

isAlive() → bool

Determine of the motor is still operating or has timed out.

Returns:

a True value if the motor is still operating normally and hasn’t timed out

Return type:

bool

setSafetyEnabled(enabled: bool)

Enable/disable motor safety for this device.

Turn on and off the motor safety option for this object.

Parameters:

enabled (bool) – True if motor safety is enforced for this object.

isSafetyEnabled() → bool

Return the state of the motor safety enabled flag.

Return if the motor safety is currently enabled for this device.

Returns:

True if motor safety is enforced for this device

Return type:

bool