`phoenix6.hardware.traits.has_talon_signals`#

Module Contents#

class phoenix6.hardware.traits.has_talon_signals.HasTalonSignals#

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

get_version_major(refresh: bool = True) → phoenix6.status_signal.StatusSignal[int]#

App Major Version number.

This refreshes and returns a cached StatusSignal object.

Parameters:: refresh (bool) – Whether to refresh the StatusSignal before returning it; defaults to true
Returns:: VersionMajor Status Signal Object
Return type:: StatusSignal[int]

get_version_minor(refresh: bool = True) → phoenix6.status_signal.StatusSignal[int]#

App Minor Version number.

This refreshes and returns a cached StatusSignal object.

Parameters:: refresh (bool) – Whether to refresh the StatusSignal before returning it; defaults to true
Returns:: VersionMinor Status Signal Object
Return type:: StatusSignal[int]

get_version_bugfix(refresh: bool = True) → phoenix6.status_signal.StatusSignal[int]#

App Bugfix Version number.

This refreshes and returns a cached StatusSignal object.

Parameters:: refresh (bool) – Whether to refresh the StatusSignal before returning it; defaults to true
Returns:: VersionBugfix Status Signal Object
Return type:: StatusSignal[int]

get_version_build(refresh: bool = True) → phoenix6.status_signal.StatusSignal[int]#

App Build Version number.

This refreshes and returns a cached StatusSignal object.

Parameters:: refresh (bool) – Whether to refresh the StatusSignal before returning it; defaults to true
Returns:: VersionBuild Status Signal Object
Return type:: StatusSignal[int]

get_version(refresh: bool = True) → phoenix6.status_signal.StatusSignal[int]#

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

This refreshes and returns a cached StatusSignal object.

Parameters:: refresh (bool) – Whether to refresh the StatusSignal before returning it; defaults to true
Returns:: Version Status Signal Object
Return type:: StatusSignal[int]

get_fault_field(refresh: bool = True) → phoenix6.status_signal.StatusSignal[int]#

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.

This refreshes and returns a cached StatusSignal object.

Parameters:: refresh (bool) – Whether to refresh the StatusSignal before returning it; defaults to true
Returns:: FaultField Status Signal Object
Return type:: StatusSignal[int]

get_sticky_fault_field(refresh: bool = True) → phoenix6.status_signal.StatusSignal[int]#

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.

This refreshes and returns a cached StatusSignal object.

Parameters:: refresh (bool) – Whether to refresh the StatusSignal before returning it; defaults to true
Returns:: StickyFaultField Status Signal Object
Return type:: StatusSignal[int]

get_motor_voltage(refresh: bool = True) → phoenix6.status_signal.StatusSignal[phoenix6.units.volt]#

The applied (output) motor voltage.

This refreshes and returns a cached StatusSignal object.

Parameters:: refresh (bool) – Whether to refresh the StatusSignal before returning it; defaults to true
Returns:: MotorVoltage Status Signal Object
Return type:: StatusSignal[volt]

get_forward_limit(refresh: bool = True) → phoenix6.status_signal.StatusSignal[phoenix6.signals.spn_enums.ForwardLimitValue]#

Forward Limit Pin.

This refreshes and returns a cached StatusSignal object.

Parameters:: refresh (bool) – Whether to refresh the StatusSignal before returning it; defaults to true
Returns:: ForwardLimit Status Signal Object
Return type:: StatusSignal[ForwardLimitValue]

get_reverse_limit(refresh: bool = True) → phoenix6.status_signal.StatusSignal[phoenix6.signals.spn_enums.ReverseLimitValue]#

Reverse Limit Pin.

This refreshes and returns a cached StatusSignal object.

Parameters:: refresh (bool) – Whether to refresh the StatusSignal before returning it; defaults to true
Returns:: ReverseLimit Status Signal Object
Return type:: StatusSignal[ReverseLimitValue]

get_applied_rotor_polarity(refresh: bool = True) → phoenix6.status_signal.StatusSignal[phoenix6.signals.spn_enums.AppliedRotorPolarityValue]#

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.

Parameters:: refresh (bool) – Whether to refresh the StatusSignal before returning it; defaults to true
Returns:: AppliedRotorPolarity Status Signal Object
Return type:: StatusSignal[AppliedRotorPolarityValue]

get_duty_cycle(refresh: bool = True) → phoenix6.status_signal.StatusSignal[float]#

The applied motor duty cycle.

This refreshes and returns a cached StatusSignal object.

Parameters:: refresh (bool) – Whether to refresh the StatusSignal before returning it; defaults to true
Returns:: DutyCycle Status Signal Object
Return type:: StatusSignal[float]

get_torque_current(refresh: bool = True) → phoenix6.status_signal.StatusSignal[phoenix6.units.ampere]#

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.

This refreshes and returns a cached StatusSignal object.

Parameters:: refresh (bool) – Whether to refresh the StatusSignal before returning it; defaults to true
Returns:: TorqueCurrent Status Signal Object
Return type:: StatusSignal[ampere]

get_stator_current(refresh: bool = True) → phoenix6.status_signal.StatusSignal[phoenix6.units.ampere]#

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.

This refreshes and returns a cached StatusSignal object.

Parameters:: refresh (bool) – Whether to refresh the StatusSignal before returning it; defaults to true
Returns:: StatorCurrent Status Signal Object
Return type:: StatusSignal[ampere]

get_supply_current(refresh: bool = True) → phoenix6.status_signal.StatusSignal[phoenix6.units.ampere]#

Measured supply side current.

This refreshes and returns a cached StatusSignal object.

Parameters:: refresh (bool) – Whether to refresh the StatusSignal before returning it; defaults to true
Returns:: SupplyCurrent Status Signal Object
Return type:: StatusSignal[ampere]

get_supply_voltage(refresh: bool = True) → phoenix6.status_signal.StatusSignal[phoenix6.units.volt]#

Measured supply voltage to the device.

This refreshes and returns a cached StatusSignal object.

Parameters:: refresh (bool) – Whether to refresh the StatusSignal before returning it; defaults to true
Returns:: SupplyVoltage Status Signal Object
Return type:: StatusSignal[volt]

get_device_temp(refresh: bool = True) → phoenix6.status_signal.StatusSignal[phoenix6.units.celsius]#

Temperature of device.

This is the temperature that the device measures itself to be at. Similar to Processor Temperature.

This refreshes and returns a cached StatusSignal object.

Parameters:: refresh (bool) – Whether to refresh the StatusSignal before returning it; defaults to true
Returns:: DeviceTemp Status Signal Object
Return type:: StatusSignal[celsius]

get_processor_temp(refresh: bool = True) → phoenix6.status_signal.StatusSignal[phoenix6.units.celsius]#

Temperature of the processor.

This is the temperature that the processor measures itself to be at. Similar to Device Temperature.

This refreshes and returns a cached StatusSignal object.

Parameters:: refresh (bool) – Whether to refresh the StatusSignal before returning it; defaults to true
Returns:: ProcessorTemp Status Signal Object
Return type:: StatusSignal[celsius]

get_rotor_velocity(refresh: bool = True) → phoenix6.status_signal.StatusSignal[phoenix6.units.rotations_per_second]#

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

This refreshes and returns a cached StatusSignal object.

Parameters:: refresh (bool) – Whether to refresh the StatusSignal before returning it; defaults to true
Returns:: RotorVelocity Status Signal Object
Return type:: StatusSignal[rotations_per_second]

get_rotor_position(refresh: bool = True) → phoenix6.status_signal.StatusSignal[phoenix6.units.rotation]#

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

This refreshes and returns a cached StatusSignal object.

Parameters:: refresh (bool) – Whether to refresh the StatusSignal before returning it; defaults to true
Returns:: RotorPosition Status Signal Object
Return type:: StatusSignal[rotation]

get_velocity(refresh: bool = True) → phoenix6.status_signal.StatusSignal[phoenix6.units.rotations_per_second]#

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.

This refreshes and returns a cached StatusSignal object.

Parameters:: refresh (bool) – Whether to refresh the StatusSignal before returning it; defaults to true
Returns:: Velocity Status Signal Object
Return type:: StatusSignal[rotations_per_second]

get_position(refresh: bool = True) → phoenix6.status_signal.StatusSignal[phoenix6.units.rotation]#

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.

This refreshes and returns a cached StatusSignal object.

Parameters:: refresh (bool) – Whether to refresh the StatusSignal before returning it; defaults to true
Returns:: Position Status Signal Object
Return type:: StatusSignal[rotation]

get_acceleration(refresh: bool = True) → phoenix6.status_signal.StatusSignal[phoenix6.units.rotations_per_second_squared]#

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.

This refreshes and returns a cached StatusSignal object.

Parameters:: refresh (bool) – Whether to refresh the StatusSignal before returning it; defaults to true
Returns:: Acceleration Status Signal Object
Return type:: StatusSignal[rotations_per_second_squared]

get_control_mode(refresh: bool = True) → phoenix6.status_signal.StatusSignal[phoenix6.signals.spn_enums.ControlModeValue]#

The active control mode of the motor controller.

This refreshes and returns a cached StatusSignal object.

Parameters:: refresh (bool) – Whether to refresh the StatusSignal before returning it; defaults to true
Returns:: ControlMode Status Signal Object
Return type:: StatusSignal[ControlModeValue]

get_motion_magic_is_running(refresh: bool = True) → phoenix6.status_signal.StatusSignal[phoenix6.signals.spn_enums.MotionMagicIsRunningValue]#

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

This refreshes and returns a cached StatusSignal object.

Parameters:: refresh (bool) – Whether to refresh the StatusSignal before returning it; defaults to true
Returns:: MotionMagicIsRunning Status Signal Object
Return type:: StatusSignal[MotionMagicIsRunningValue]

get_device_enable(refresh: bool = True) → phoenix6.status_signal.StatusSignal[phoenix6.signals.spn_enums.DeviceEnableValue]#

Indicates if device is actuator enabled.

This refreshes and returns a cached StatusSignal object.

Parameters:: refresh (bool) – Whether to refresh the StatusSignal before returning it; defaults to true
Returns:: DeviceEnable Status Signal Object
Return type:: StatusSignal[DeviceEnableValue]

get_closed_loop_slot(refresh: bool = True) → phoenix6.status_signal.StatusSignal[int]#

The slot that the closed-loop PID is using.

This refreshes and returns a cached StatusSignal object.

Parameters:: refresh (bool) – Whether to refresh the StatusSignal before returning it; defaults to true
Returns:: ClosedLoopSlot Status Signal Object
Return type:: StatusSignal[int]

get_motor_output_status(refresh: bool = True) → phoenix6.status_signal.StatusSignal[phoenix6.signals.spn_enums.MotorOutputStatusValue]#

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.

Parameters:: refresh (bool) – Whether to refresh the StatusSignal before returning it; defaults to true
Returns:: MotorOutputStatus Status Signal Object
Return type:: StatusSignal[MotorOutputStatusValue]

get_differential_control_mode(refresh: bool = True) → phoenix6.status_signal.StatusSignal[phoenix6.signals.spn_enums.DifferentialControlModeValue]#

The active control mode of the differential controller.

This refreshes and returns a cached StatusSignal object.

Parameters:: refresh (bool) – Whether to refresh the StatusSignal before returning it; defaults to true
Returns:: DifferentialControlMode Status Signal Object
Return type:: StatusSignal[DifferentialControlModeValue]

get_differential_average_velocity(refresh: bool = True) → phoenix6.status_signal.StatusSignal[phoenix6.units.rotations_per_second]#

Average component of the differential velocity of device.

This refreshes and returns a cached StatusSignal object.

Parameters:: refresh (bool) – Whether to refresh the StatusSignal before returning it; defaults to true
Returns:: DifferentialAverageVelocity Status Signal Object
Return type:: StatusSignal[rotations_per_second]

get_differential_average_position(refresh: bool = True) → phoenix6.status_signal.StatusSignal[phoenix6.units.rotation]#

Average component of the differential position of device.

This refreshes and returns a cached StatusSignal object.

Parameters:: refresh (bool) – Whether to refresh the StatusSignal before returning it; defaults to true
Returns:: DifferentialAveragePosition Status Signal Object
Return type:: StatusSignal[rotation]

get_differential_difference_velocity(refresh: bool = True) → phoenix6.status_signal.StatusSignal[phoenix6.units.rotations_per_second]#

Difference component of the differential velocity of device.

This refreshes and returns a cached StatusSignal object.

Parameters:: refresh (bool) – Whether to refresh the StatusSignal before returning it; defaults to true
Returns:: DifferentialDifferenceVelocity Status Signal Object
Return type:: StatusSignal[rotations_per_second]

get_differential_difference_position(refresh: bool = True) → phoenix6.status_signal.StatusSignal[phoenix6.units.rotation]#

Difference component of the differential position of device.

This refreshes and returns a cached StatusSignal object.

Parameters:: refresh (bool) – Whether to refresh the StatusSignal before returning it; defaults to true
Returns:: DifferentialDifferencePosition Status Signal Object
Return type:: StatusSignal[rotation]

get_differential_closed_loop_slot(refresh: bool = True) → phoenix6.status_signal.StatusSignal[int]#

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

This refreshes and returns a cached StatusSignal object.

Parameters:: refresh (bool) – Whether to refresh the StatusSignal before returning it; defaults to true
Returns:: DifferentialClosedLoopSlot Status Signal Object
Return type:: StatusSignal[int]

get_motor_kt(refresh: bool = True) → phoenix6.status_signal.StatusSignal[phoenix6.units.newton_meters_per_ampere]#

The torque constant (K_T) of the motor.

This refreshes and returns a cached StatusSignal object.

Parameters:: refresh (bool) – Whether to refresh the StatusSignal before returning it; defaults to true
Returns:: MotorKT Status Signal Object
Return type:: StatusSignal[newton_meters_per_ampere]

get_motor_kv(refresh: bool = True) → phoenix6.status_signal.StatusSignal[phoenix6.units.rpm_per_volt]#

The velocity constant (K_V) of the motor.

This refreshes and returns a cached StatusSignal object.

Parameters:: refresh (bool) – Whether to refresh the StatusSignal before returning it; defaults to true
Returns:: MotorKV Status Signal Object
Return type:: StatusSignal[rpm_per_volt]

get_motor_stall_current(refresh: bool = True) → phoenix6.status_signal.StatusSignal[phoenix6.units.ampere]#

The stall current of the motor at 12 V output.

This refreshes and returns a cached StatusSignal object.

Parameters:: refresh (bool) – Whether to refresh the StatusSignal before returning it; defaults to true
Returns:: MotorStallCurrent Status Signal Object
Return type:: StatusSignal[ampere]

get_bridge_output(refresh: bool = True) → phoenix6.status_signal.StatusSignal[phoenix6.signals.spn_enums.BridgeOutputValue]#

The applied output of the bridge.

This refreshes and returns a cached StatusSignal object.

Parameters:: refresh (bool) – Whether to refresh the StatusSignal before returning it; defaults to true
Returns:: BridgeOutput Status Signal Object
Return type:: StatusSignal[BridgeOutputValue]

get_is_pro_licensed(refresh: bool = True) → phoenix6.status_signal.StatusSignal[bool]#

Whether the device is Phoenix Pro licensed.

This refreshes and returns a cached StatusSignal object.

Parameters:: refresh (bool) – Whether to refresh the StatusSignal before returning it; defaults to true
Returns:: IsProLicensed Status Signal Object
Return type:: StatusSignal[bool]

get_ancillary_device_temp(refresh: bool = True) → phoenix6.status_signal.StatusSignal[phoenix6.units.celsius]#

Temperature of device from second sensor.

Newer versions of Talon have multiple temperature measurement methods.

This refreshes and returns a cached StatusSignal object.

Parameters:: refresh (bool) – Whether to refresh the StatusSignal before returning it; defaults to true
Returns:: AncillaryDeviceTemp Status Signal Object
Return type:: StatusSignal[celsius]

get_connected_motor(refresh: bool = True) → phoenix6.status_signal.StatusSignal[phoenix6.signals.spn_enums.ConnectedMotorValue]#

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.

Parameters:: refresh (bool) – Whether to refresh the StatusSignal before returning it; defaults to true
Returns:: ConnectedMotor Status Signal Object
Return type:: StatusSignal[ConnectedMotorValue]

get_fault_hardware(refresh: bool = True) → phoenix6.status_signal.StatusSignal[bool]#

Hardware fault occurred

This refreshes and returns a cached StatusSignal object.

Parameters:: refresh (bool) – Whether to refresh the StatusSignal before returning it; defaults to true
Returns:: Fault_Hardware Status Signal Object
Return type:: StatusSignal[bool]

get_sticky_fault_hardware(refresh: bool = True) → phoenix6.status_signal.StatusSignal[bool]#

Hardware fault occurred

This refreshes and returns a cached StatusSignal object.

Parameters:: refresh (bool) – Whether to refresh the StatusSignal before returning it; defaults to true
Returns:: StickyFault_Hardware Status Signal Object
Return type:: StatusSignal[bool]

get_fault_proc_temp(refresh: bool = True) → phoenix6.status_signal.StatusSignal[bool]#

Processor temperature exceeded limit

This refreshes and returns a cached StatusSignal object.

Parameters:: refresh (bool) – Whether to refresh the StatusSignal before returning it; defaults to true
Returns:: Fault_ProcTemp Status Signal Object
Return type:: StatusSignal[bool]

get_sticky_fault_proc_temp(refresh: bool = True) → phoenix6.status_signal.StatusSignal[bool]#

Processor temperature exceeded limit

This refreshes and returns a cached StatusSignal object.

Parameters:: refresh (bool) – Whether to refresh the StatusSignal before returning it; defaults to true
Returns:: StickyFault_ProcTemp Status Signal Object
Return type:: StatusSignal[bool]

get_fault_device_temp(refresh: bool = True) → phoenix6.status_signal.StatusSignal[bool]#

Device temperature exceeded limit

This refreshes and returns a cached StatusSignal object.

Parameters:: refresh (bool) – Whether to refresh the StatusSignal before returning it; defaults to true
Returns:: Fault_DeviceTemp Status Signal Object
Return type:: StatusSignal[bool]

get_sticky_fault_device_temp(refresh: bool = True) → phoenix6.status_signal.StatusSignal[bool]#

Device temperature exceeded limit

This refreshes and returns a cached StatusSignal object.

Parameters:: refresh (bool) – Whether to refresh the StatusSignal before returning it; defaults to true
Returns:: StickyFault_DeviceTemp Status Signal Object
Return type:: StatusSignal[bool]

get_fault_undervoltage(refresh: bool = True) → phoenix6.status_signal.StatusSignal[bool]#

Device supply voltage dropped to near brownout levels

This refreshes and returns a cached StatusSignal object.

Parameters:: refresh (bool) – Whether to refresh the StatusSignal before returning it; defaults to true
Returns:: Fault_Undervoltage Status Signal Object
Return type:: StatusSignal[bool]

get_sticky_fault_undervoltage(refresh: bool = True) → phoenix6.status_signal.StatusSignal[bool]#

Device supply voltage dropped to near brownout levels

This refreshes and returns a cached StatusSignal object.

Parameters:: refresh (bool) – Whether to refresh the StatusSignal before returning it; defaults to true
Returns:: StickyFault_Undervoltage Status Signal Object
Return type:: StatusSignal[bool]

get_fault_boot_during_enable(refresh: bool = True) → phoenix6.status_signal.StatusSignal[bool]#

Device boot while detecting the enable signal

This refreshes and returns a cached StatusSignal object.

Parameters:: refresh (bool) – Whether to refresh the StatusSignal before returning it; defaults to true
Returns:: Fault_BootDuringEnable Status Signal Object
Return type:: StatusSignal[bool]

get_sticky_fault_boot_during_enable(refresh: bool = True) → phoenix6.status_signal.StatusSignal[bool]#

Device boot while detecting the enable signal

This refreshes and returns a cached StatusSignal object.

Parameters:: refresh (bool) – Whether to refresh the StatusSignal before returning it; defaults to true
Returns:: StickyFault_BootDuringEnable Status Signal Object
Return type:: StatusSignal[bool]

get_fault_unlicensed_feature_in_use(refresh: bool = True) → phoenix6.status_signal.StatusSignal[bool]#

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

This refreshes and returns a cached StatusSignal object.

Parameters:: refresh (bool) – Whether to refresh the StatusSignal before returning it; defaults to true
Returns:: Fault_UnlicensedFeatureInUse Status Signal Object
Return type:: StatusSignal[bool]

get_sticky_fault_unlicensed_feature_in_use(refresh: bool = True) → phoenix6.status_signal.StatusSignal[bool]#

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

This refreshes and returns a cached StatusSignal object.

Parameters:: refresh (bool) – Whether to refresh the StatusSignal before returning it; defaults to true
Returns:: StickyFault_UnlicensedFeatureInUse Status Signal Object
Return type:: StatusSignal[bool]

get_fault_bridge_brownout(refresh: bool = True) → phoenix6.status_signal.StatusSignal[bool]#

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

This refreshes and returns a cached StatusSignal object.

Parameters:: refresh (bool) – Whether to refresh the StatusSignal before returning it; defaults to true
Returns:: Fault_BridgeBrownout Status Signal Object
Return type:: StatusSignal[bool]

get_sticky_fault_bridge_brownout(refresh: bool = True) → phoenix6.status_signal.StatusSignal[bool]#

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

This refreshes and returns a cached StatusSignal object.

Parameters:: refresh (bool) – Whether to refresh the StatusSignal before returning it; defaults to true
Returns:: StickyFault_BridgeBrownout Status Signal Object
Return type:: StatusSignal[bool]

get_fault_remote_sensor_reset(refresh: bool = True) → phoenix6.status_signal.StatusSignal[bool]#

The remote sensor has reset.

This refreshes and returns a cached StatusSignal object.

Parameters:: refresh (bool) – Whether to refresh the StatusSignal before returning it; defaults to true
Returns:: Fault_RemoteSensorReset Status Signal Object
Return type:: StatusSignal[bool]

get_sticky_fault_remote_sensor_reset(refresh: bool = True) → phoenix6.status_signal.StatusSignal[bool]#

The remote sensor has reset.

This refreshes and returns a cached StatusSignal object.

Parameters:: refresh (bool) – Whether to refresh the StatusSignal before returning it; defaults to true
Returns:: StickyFault_RemoteSensorReset Status Signal Object
Return type:: StatusSignal[bool]

get_fault_missing_differential_fx(refresh: bool = True) → phoenix6.status_signal.StatusSignal[bool]#

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

This refreshes and returns a cached StatusSignal object.

Parameters:: refresh (bool) – Whether to refresh the StatusSignal before returning it; defaults to true
Returns:: Fault_MissingDifferentialFX Status Signal Object
Return type:: StatusSignal[bool]

get_sticky_fault_missing_differential_fx(refresh: bool = True) → phoenix6.status_signal.StatusSignal[bool]#

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

This refreshes and returns a cached StatusSignal object.

Parameters:: refresh (bool) – Whether to refresh the StatusSignal before returning it; defaults to true
Returns:: StickyFault_MissingDifferentialFX Status Signal Object
Return type:: StatusSignal[bool]

get_fault_remote_sensor_pos_overflow(refresh: bool = True) → phoenix6.status_signal.StatusSignal[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.

This refreshes and returns a cached StatusSignal object.

Parameters:: refresh (bool) – Whether to refresh the StatusSignal before returning it; defaults to true
Returns:: Fault_RemoteSensorPosOverflow Status Signal Object
Return type:: StatusSignal[bool]

get_sticky_fault_remote_sensor_pos_overflow(refresh: bool = True) → phoenix6.status_signal.StatusSignal[bool]#

This refreshes and returns a cached StatusSignal object.

Parameters:: refresh (bool) – Whether to refresh the StatusSignal before returning it; defaults to true
Returns:: StickyFault_RemoteSensorPosOverflow Status Signal Object
Return type:: StatusSignal[bool]

get_fault_over_supply_v(refresh: bool = True) → phoenix6.status_signal.StatusSignal[bool]#

Supply Voltage has exceeded the maximum voltage rating of device.

This refreshes and returns a cached StatusSignal object.

Parameters:: refresh (bool) – Whether to refresh the StatusSignal before returning it; defaults to true
Returns:: Fault_OverSupplyV Status Signal Object
Return type:: StatusSignal[bool]

get_sticky_fault_over_supply_v(refresh: bool = True) → phoenix6.status_signal.StatusSignal[bool]#

Supply Voltage has exceeded the maximum voltage rating of device.

This refreshes and returns a cached StatusSignal object.

Parameters:: refresh (bool) – Whether to refresh the StatusSignal before returning it; defaults to true
Returns:: StickyFault_OverSupplyV Status Signal Object
Return type:: StatusSignal[bool]

get_fault_unstable_supply_v(refresh: bool = True) → phoenix6.status_signal.StatusSignal[bool]#

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

This refreshes and returns a cached StatusSignal object.

Parameters:: refresh (bool) – Whether to refresh the StatusSignal before returning it; defaults to true
Returns:: Fault_UnstableSupplyV Status Signal Object
Return type:: StatusSignal[bool]

get_sticky_fault_unstable_supply_v(refresh: bool = True) → phoenix6.status_signal.StatusSignal[bool]#

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

This refreshes and returns a cached StatusSignal object.

Parameters:: refresh (bool) – Whether to refresh the StatusSignal before returning it; defaults to true
Returns:: StickyFault_UnstableSupplyV Status Signal Object
Return type:: StatusSignal[bool]

get_fault_reverse_hard_limit(refresh: bool = True) → phoenix6.status_signal.StatusSignal[bool]#

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

This refreshes and returns a cached StatusSignal object.

Parameters:: refresh (bool) – Whether to refresh the StatusSignal before returning it; defaults to true
Returns:: Fault_ReverseHardLimit Status Signal Object
Return type:: StatusSignal[bool]

get_sticky_fault_reverse_hard_limit(refresh: bool = True) → phoenix6.status_signal.StatusSignal[bool]#

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

This refreshes and returns a cached StatusSignal object.

Parameters:: refresh (bool) – Whether to refresh the StatusSignal before returning it; defaults to true
Returns:: StickyFault_ReverseHardLimit Status Signal Object
Return type:: StatusSignal[bool]

get_fault_forward_hard_limit(refresh: bool = True) → phoenix6.status_signal.StatusSignal[bool]#

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

This refreshes and returns a cached StatusSignal object.

Parameters:: refresh (bool) – Whether to refresh the StatusSignal before returning it; defaults to true
Returns:: Fault_ForwardHardLimit Status Signal Object
Return type:: StatusSignal[bool]

get_sticky_fault_forward_hard_limit(refresh: bool = True) → phoenix6.status_signal.StatusSignal[bool]#

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

This refreshes and returns a cached StatusSignal object.

Parameters:: refresh (bool) – Whether to refresh the StatusSignal before returning it; defaults to true
Returns:: StickyFault_ForwardHardLimit Status Signal Object
Return type:: StatusSignal[bool]

get_fault_reverse_soft_limit(refresh: bool = True) → phoenix6.status_signal.StatusSignal[bool]#

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

This refreshes and returns a cached StatusSignal object.

Parameters:: refresh (bool) – Whether to refresh the StatusSignal before returning it; defaults to true
Returns:: Fault_ReverseSoftLimit Status Signal Object
Return type:: StatusSignal[bool]

get_sticky_fault_reverse_soft_limit(refresh: bool = True) → phoenix6.status_signal.StatusSignal[bool]#

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

This refreshes and returns a cached StatusSignal object.

Parameters:: refresh (bool) – Whether to refresh the StatusSignal before returning it; defaults to true
Returns:: StickyFault_ReverseSoftLimit Status Signal Object
Return type:: StatusSignal[bool]

get_fault_forward_soft_limit(refresh: bool = True) → phoenix6.status_signal.StatusSignal[bool]#

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

This refreshes and returns a cached StatusSignal object.

Parameters:: refresh (bool) – Whether to refresh the StatusSignal before returning it; defaults to true
Returns:: Fault_ForwardSoftLimit Status Signal Object
Return type:: StatusSignal[bool]

get_sticky_fault_forward_soft_limit(refresh: bool = True) → phoenix6.status_signal.StatusSignal[bool]#

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

This refreshes and returns a cached StatusSignal object.

Parameters:: refresh (bool) – Whether to refresh the StatusSignal before returning it; defaults to true
Returns:: StickyFault_ForwardSoftLimit Status Signal Object
Return type:: StatusSignal[bool]

get_fault_missing_soft_limit_remote(refresh: bool = True) → phoenix6.status_signal.StatusSignal[bool]#

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

This refreshes and returns a cached StatusSignal object.

Parameters:: refresh (bool) – Whether to refresh the StatusSignal before returning it; defaults to true
Returns:: Fault_MissingSoftLimitRemote Status Signal Object
Return type:: StatusSignal[bool]

get_sticky_fault_missing_soft_limit_remote(refresh: bool = True) → phoenix6.status_signal.StatusSignal[bool]#

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

This refreshes and returns a cached StatusSignal object.

Parameters:: refresh (bool) – Whether to refresh the StatusSignal before returning it; defaults to true
Returns:: StickyFault_MissingSoftLimitRemote Status Signal Object
Return type:: StatusSignal[bool]

get_fault_missing_hard_limit_remote(refresh: bool = True) → phoenix6.status_signal.StatusSignal[bool]#

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

This refreshes and returns a cached StatusSignal object.

Parameters:: refresh (bool) – Whether to refresh the StatusSignal before returning it; defaults to true
Returns:: Fault_MissingHardLimitRemote Status Signal Object
Return type:: StatusSignal[bool]

get_sticky_fault_missing_hard_limit_remote(refresh: bool = True) → phoenix6.status_signal.StatusSignal[bool]#

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

This refreshes and returns a cached StatusSignal object.

Parameters:: refresh (bool) – Whether to refresh the StatusSignal before returning it; defaults to true
Returns:: StickyFault_MissingHardLimitRemote Status Signal Object
Return type:: StatusSignal[bool]

get_fault_remote_sensor_data_invalid(refresh: bool = True) → phoenix6.status_signal.StatusSignal[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.

This refreshes and returns a cached StatusSignal object.

Parameters:: refresh (bool) – Whether to refresh the StatusSignal before returning it; defaults to true
Returns:: Fault_RemoteSensorDataInvalid Status Signal Object
Return type:: StatusSignal[bool]

get_sticky_fault_remote_sensor_data_invalid(refresh: bool = True) → phoenix6.status_signal.StatusSignal[bool]#

This refreshes and returns a cached StatusSignal object.

Parameters:: refresh (bool) – Whether to refresh the StatusSignal before returning it; defaults to true
Returns:: StickyFault_RemoteSensorDataInvalid Status Signal Object
Return type:: StatusSignal[bool]

get_fault_fused_sensor_out_of_sync(refresh: bool = True) → phoenix6.status_signal.StatusSignal[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.

This refreshes and returns a cached StatusSignal object.

Parameters:: refresh (bool) – Whether to refresh the StatusSignal before returning it; defaults to true
Returns:: Fault_FusedSensorOutOfSync Status Signal Object
Return type:: StatusSignal[bool]

get_sticky_fault_fused_sensor_out_of_sync(refresh: bool = True) → phoenix6.status_signal.StatusSignal[bool]#

This refreshes and returns a cached StatusSignal object.

Parameters:: refresh (bool) – Whether to refresh the StatusSignal before returning it; defaults to true
Returns:: StickyFault_FusedSensorOutOfSync Status Signal Object
Return type:: StatusSignal[bool]

get_fault_stator_curr_limit(refresh: bool = True) → phoenix6.status_signal.StatusSignal[bool]#

Stator current limit occured.

This refreshes and returns a cached StatusSignal object.

Parameters:: refresh (bool) – Whether to refresh the StatusSignal before returning it; defaults to true
Returns:: Fault_StatorCurrLimit Status Signal Object
Return type:: StatusSignal[bool]

get_sticky_fault_stator_curr_limit(refresh: bool = True) → phoenix6.status_signal.StatusSignal[bool]#

Stator current limit occured.

This refreshes and returns a cached StatusSignal object.

Parameters:: refresh (bool) – Whether to refresh the StatusSignal before returning it; defaults to true
Returns:: StickyFault_StatorCurrLimit Status Signal Object
Return type:: StatusSignal[bool]

get_fault_supply_curr_limit(refresh: bool = True) → phoenix6.status_signal.StatusSignal[bool]#

Supply current limit occured.

This refreshes and returns a cached StatusSignal object.

Parameters:: refresh (bool) – Whether to refresh the StatusSignal before returning it; defaults to true
Returns:: Fault_SupplyCurrLimit Status Signal Object
Return type:: StatusSignal[bool]

get_sticky_fault_supply_curr_limit(refresh: bool = True) → phoenix6.status_signal.StatusSignal[bool]#

Supply current limit occured.

This refreshes and returns a cached StatusSignal object.

Parameters:: refresh (bool) – Whether to refresh the StatusSignal before returning it; defaults to true
Returns:: StickyFault_SupplyCurrLimit Status Signal Object
Return type:: StatusSignal[bool]

get_fault_using_fused_cancoder_while_unlicensed(refresh: bool = True) → phoenix6.status_signal.StatusSignal[bool]#

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

This refreshes and returns a cached StatusSignal object.

Parameters:: refresh (bool) – Whether to refresh the StatusSignal before returning it; defaults to true
Returns:: Fault_UsingFusedCANcoderWhileUnlicensed Status Signal Object
Return type:: StatusSignal[bool]

get_sticky_fault_using_fused_cancoder_while_unlicensed(refresh: bool = True) → phoenix6.status_signal.StatusSignal[bool]#

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

This refreshes and returns a cached StatusSignal object.

Parameters:: refresh (bool) – Whether to refresh the StatusSignal before returning it; defaults to true
Returns:: StickyFault_UsingFusedCANcoderWhileUnlicensed Status Signal Object
Return type:: StatusSignal[bool]

get_fault_static_brake_disabled(refresh: bool = True) → phoenix6.status_signal.StatusSignal[bool]#

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

This refreshes and returns a cached StatusSignal object.

Parameters:: refresh (bool) – Whether to refresh the StatusSignal before returning it; defaults to true
Returns:: Fault_StaticBrakeDisabled Status Signal Object
Return type:: StatusSignal[bool]

get_sticky_fault_static_brake_disabled(refresh: bool = True) → phoenix6.status_signal.StatusSignal[bool]#

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

This refreshes and returns a cached StatusSignal object.

Parameters:: refresh (bool) – Whether to refresh the StatusSignal before returning it; defaults to true
Returns:: StickyFault_StaticBrakeDisabled Status Signal Object
Return type:: StatusSignal[bool]

get_closed_loop_proportional_output(refresh: bool = True) → phoenix6.status_signal.StatusSignal[float]#

Closed loop proportional component

The portion of the closed loop output that is the proportional to the error. Alternatively, the p-Contribution of the closed loop output.

This refreshes and returns a cached StatusSignal object.

Parameters:: refresh (bool) – Whether to refresh the StatusSignal before returning it; defaults to true
Returns:: ClosedLoopProportionalOutput Status Signal object
Return type:: StatusSignal[float]

get_closed_loop_integrated_output(refresh: bool = True) → phoenix6.status_signal.StatusSignal[float]#

Closed loop integrated component

The portion of the closed loop output that is proportional to the integrated error. Alternatively, the i-Contribution of the closed loop output.

This refreshes and returns a cached StatusSignal object.

Parameters:: refresh (bool) – Whether to refresh the StatusSignal before returning it; defaults to true
Returns:: ClosedLoopIntegratedOutput Status Signal object
Return type:: StatusSignal[float]

get_closed_loop_feed_forward(refresh: bool = True) → phoenix6.status_signal.StatusSignal[float]#

Feedforward passed by the user

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

This refreshes and returns a cached StatusSignal object.

Parameters:: refresh (bool) – Whether to refresh the StatusSignal before returning it; defaults to true
Returns:: ClosedLoopFeedForward Status Signal object
Return type:: StatusSignal[float]

get_closed_loop_derivative_output(refresh: bool = True) → phoenix6.status_signal.StatusSignal[float]#

Closed loop derivative component

The portion of the closed loop output that is the proportional to the deriviative the error. Alternatively, the d-Contribution of the closed loop output.

This refreshes and returns a cached StatusSignal object.

Parameters:: refresh (bool) – Whether to refresh the StatusSignal before returning it; defaults to true
Returns:: ClosedLoopDerivativeOutput Status Signal object
Return type:: StatusSignal[float]

get_closed_loop_output(refresh: bool = True) → phoenix6.status_signal.StatusSignal[float]#

Closed loop total output

The total output of the closed loop output.

This refreshes and returns a cached StatusSignal object.

Parameters:: refresh (bool) – Whether to refresh the StatusSignal before returning it; defaults to true
Returns:: ClosedLoopOutput Status Signal object
Return type:: StatusSignal[float]

get_closed_loop_reference(refresh: bool = True) → phoenix6.status_signal.StatusSignal[float]#

Value that the closed loop is targeting

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

This refreshes and returns a cached StatusSignal object.

Parameters:: refresh (bool) – Whether to refresh the StatusSignal before returning it; defaults to true
Returns:: ClosedLoopReference Status Signal object
Return type:: StatusSignal[float]

get_closed_loop_reference_slope(refresh: bool = True) → phoenix6.status_signal.StatusSignal[float]#

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®.

This refreshes and returns a cached StatusSignal object.

Parameters:: refresh (bool) – Whether to refresh the StatusSignal before returning it; defaults to true
Returns:: ClosedLoopReferenceSlope Status Signal object
Return type:: StatusSignal[float]

get_closed_loop_error(refresh: bool = True) → phoenix6.status_signal.StatusSignal[float]#

The difference between target reference and current measurement

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

This refreshes and returns a cached StatusSignal object.

Parameters:: refresh (bool) – Whether to refresh the StatusSignal before returning it; defaults to true
Returns:: ClosedLoopError Status Signal object
Return type:: StatusSignal[float]

get_differential_output(refresh: bool = True) → phoenix6.status_signal.StatusSignal[float]#

The calculated motor output for differential followers.

This is a torque request when using the TorqueCurrentFOC control output type, and a duty cycle in all other control types.

This refreshes and returns a cached StatusSignal object.

Parameters:: refresh (bool) – Whether to refresh the StatusSignal before returning it; defaults to true
Returns:: DifferentialOutput Status Signal object
Return type:: StatusSignal[float]

get_differential_closed_loop_proportional_output(refresh: bool = True) → phoenix6.status_signal.StatusSignal[float]#

Differential closed loop proportional component

The portion of the differential closed loop output that is the proportional to the error. Alternatively, the p-Contribution of the closed loop output.

This refreshes and returns a cached StatusSignal object.

Parameters:: refresh (bool) – Whether to refresh the StatusSignal before returning it; defaults to true
Returns:: DifferentialClosedLoopProportionalOutput Status Signal object
Return type:: StatusSignal[float]

get_differential_closed_loop_integrated_output(refresh: bool = True) → phoenix6.status_signal.StatusSignal[float]#

Differential closed loop integrated component

The portion of the differential closed loop output that is proportional to the integrated error. Alternatively, the i-Contribution of the closed loop output.

This refreshes and returns a cached StatusSignal object.

Parameters:: refresh (bool) – Whether to refresh the StatusSignal before returning it; defaults to true
Returns:: DifferentialClosedLoopIntegratedOutput Status Signal object
Return type:: StatusSignal[float]

get_differential_closed_loop_feed_forward(refresh: bool = True) → phoenix6.status_signal.StatusSignal[float]#

Differential Feedforward passed by the user

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

This refreshes and returns a cached StatusSignal object.

Parameters:: refresh (bool) – Whether to refresh the StatusSignal before returning it; defaults to true
Returns:: DifferentialClosedLoopFeedForward Status Signal object
Return type:: StatusSignal[float]

get_differential_closed_loop_derivative_output(refresh: bool = True) → phoenix6.status_signal.StatusSignal[float]#

Differential closed loop derivative component

The portion of the differential closed loop output that is the proportional to the deriviative the error. Alternatively, the d-Contribution of the closed loop output.

This refreshes and returns a cached StatusSignal object.

Parameters:: refresh (bool) – Whether to refresh the StatusSignal before returning it; defaults to true
Returns:: DifferentialClosedLoopDerivativeOutput Status Signal object
Return type:: StatusSignal[float]

get_differential_closed_loop_output(refresh: bool = True) → phoenix6.status_signal.StatusSignal[float]#

Differential closed loop total output

The total output of the differential closed loop output.

This refreshes and returns a cached StatusSignal object.

Parameters:: refresh (bool) – Whether to refresh the StatusSignal before returning it; defaults to true
Returns:: DifferentialClosedLoopOutput Status Signal object
Return type:: StatusSignal[float]

get_differential_closed_loop_reference(refresh: bool = True) → phoenix6.status_signal.StatusSignal[float]#

Value that the differential closed loop is targeting

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

This refreshes and returns a cached StatusSignal object.

Parameters:: refresh (bool) – Whether to refresh the StatusSignal before returning it; defaults to true
Returns:: DifferentialClosedLoopReference Status Signal object
Return type:: StatusSignal[float]

get_differential_closed_loop_reference_slope(refresh: bool = True) → phoenix6.status_signal.StatusSignal[float]#

Derivative of the target that the differential closed loop is targeting

This refreshes and returns a cached StatusSignal object.

Parameters:: refresh (bool) – Whether to refresh the StatusSignal before returning it; defaults to true
Returns:: DifferentialClosedLoopReferenceSlope Status Signal object
Return type:: StatusSignal[float]

get_differential_closed_loop_error(refresh: bool = True) → phoenix6.status_signal.StatusSignal[float]#

The difference between target differential reference and current measurement

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

This refreshes and returns a cached StatusSignal object.

Parameters:: refresh (bool) – Whether to refresh the StatusSignal before returning it; defaults to true
Returns:: DifferentialClosedLoopError Status Signal object
Return type:: StatusSignal[float]

set_position(new_value: phoenix6.units.rotation, timeout_seconds: phoenix6.units.second = 0.1) → phoenix6.status_signal.StatusCode#

Sets the mechanism position of the device in mechanism rotations.

Parameters:

new_value (rotation) – Value to set to. Units are in rotations.
timeout_seconds (second) – Maximum time to wait up to in seconds.

Returns:

StatusCode of the set command

Return type:

StatusCode

clear_sticky_faults(timeout_seconds: phoenix6.units.second = 0.1) → phoenix6.status_signal.StatusCode#

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.

Parameters:: timeout_seconds (second) – Maximum time to wait up to in seconds.
Returns:: StatusCode of the set command
Return type:: StatusCode

clear_sticky_fault_hardware(timeout_seconds: phoenix6.units.second = 0.1) → phoenix6.status_signal.StatusCode#

Clear sticky fault: Hardware fault occurred

Parameters:: timeout_seconds (second) – Maximum time to wait up to in seconds.
Returns:: StatusCode of the set command
Return type:: StatusCode

clear_sticky_fault_proc_temp(timeout_seconds: phoenix6.units.second = 0.1) → phoenix6.status_signal.StatusCode#

Clear sticky fault: Processor temperature exceeded limit

Parameters:: timeout_seconds (second) – Maximum time to wait up to in seconds.
Returns:: StatusCode of the set command
Return type:: StatusCode

clear_sticky_fault_device_temp(timeout_seconds: phoenix6.units.second = 0.1) → phoenix6.status_signal.StatusCode#

Clear sticky fault: Device temperature exceeded limit

Parameters:: timeout_seconds (second) – Maximum time to wait up to in seconds.
Returns:: StatusCode of the set command
Return type:: StatusCode

clear_sticky_fault_undervoltage(timeout_seconds: phoenix6.units.second = 0.1) → phoenix6.status_signal.StatusCode#

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

Parameters:: timeout_seconds (second) – Maximum time to wait up to in seconds.
Returns:: StatusCode of the set command
Return type:: StatusCode

clear_sticky_fault_boot_during_enable(timeout_seconds: phoenix6.units.second = 0.1) → phoenix6.status_signal.StatusCode#

Clear sticky fault: Device boot while detecting the enable signal

Parameters:: timeout_seconds (second) – Maximum time to wait up to in seconds.
Returns:: StatusCode of the set command
Return type:: StatusCode

clear_sticky_fault_unlicensed_feature_in_use(timeout_seconds: phoenix6.units.second = 0.1) → phoenix6.status_signal.StatusCode#

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

Parameters:: timeout_seconds (second) – Maximum time to wait up to in seconds.
Returns:: StatusCode of the set command
Return type:: StatusCode

clear_sticky_fault_bridge_brownout(timeout_seconds: phoenix6.units.second = 0.1) → phoenix6.status_signal.StatusCode#

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

Parameters:: timeout_seconds (second) – Maximum time to wait up to in seconds.
Returns:: StatusCode of the set command
Return type:: StatusCode

clear_sticky_fault_remote_sensor_reset(timeout_seconds: phoenix6.units.second = 0.1) → phoenix6.status_signal.StatusCode#

Clear sticky fault: The remote sensor has reset.

Parameters:: timeout_seconds (second) – Maximum time to wait up to in seconds.
Returns:: StatusCode of the set command
Return type:: StatusCode

clear_sticky_fault_missing_differential_fx(timeout_seconds: phoenix6.units.second = 0.1) → phoenix6.status_signal.StatusCode#

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

Parameters:: timeout_seconds (second) – Maximum time to wait up to in seconds.
Returns:: StatusCode of the set command
Return type:: StatusCode

clear_sticky_fault_remote_sensor_pos_overflow(timeout_seconds: phoenix6.units.second = 0.1) → phoenix6.status_signal.StatusCode#

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.

Parameters:: timeout_seconds (second) – Maximum time to wait up to in seconds.
Returns:: StatusCode of the set command
Return type:: StatusCode

clear_sticky_fault_over_supply_v(timeout_seconds: phoenix6.units.second = 0.1) → phoenix6.status_signal.StatusCode#

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

Parameters:: timeout_seconds (second) – Maximum time to wait up to in seconds.
Returns:: StatusCode of the set command
Return type:: StatusCode

clear_sticky_fault_unstable_supply_v(timeout_seconds: phoenix6.units.second = 0.1) → phoenix6.status_signal.StatusCode#

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

Parameters:: timeout_seconds (second) – Maximum time to wait up to in seconds.
Returns:: StatusCode of the set command
Return type:: StatusCode

clear_sticky_fault_reverse_hard_limit(timeout_seconds: phoenix6.units.second = 0.1) → phoenix6.status_signal.StatusCode#

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

Parameters:: timeout_seconds (second) – Maximum time to wait up to in seconds.
Returns:: StatusCode of the set command
Return type:: StatusCode

clear_sticky_fault_forward_hard_limit(timeout_seconds: phoenix6.units.second = 0.1) → phoenix6.status_signal.StatusCode#

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

Parameters:: timeout_seconds (second) – Maximum time to wait up to in seconds.
Returns:: StatusCode of the set command
Return type:: StatusCode

clear_sticky_fault_reverse_soft_limit(timeout_seconds: phoenix6.units.second = 0.1) → phoenix6.status_signal.StatusCode#

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

Parameters:: timeout_seconds (second) – Maximum time to wait up to in seconds.
Returns:: StatusCode of the set command
Return type:: StatusCode

clear_sticky_fault_forward_soft_limit(timeout_seconds: phoenix6.units.second = 0.1) → phoenix6.status_signal.StatusCode#

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

Parameters:: timeout_seconds (second) – Maximum time to wait up to in seconds.
Returns:: StatusCode of the set command
Return type:: StatusCode

clear_sticky_fault_missing_soft_limit_remote(timeout_seconds: phoenix6.units.second = 0.1) → phoenix6.status_signal.StatusCode#

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

Parameters:: timeout_seconds (second) – Maximum time to wait up to in seconds.
Returns:: StatusCode of the set command
Return type:: StatusCode

clear_sticky_fault_missing_hard_limit_remote(timeout_seconds: phoenix6.units.second = 0.1) → phoenix6.status_signal.StatusCode#

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

Parameters:: timeout_seconds (second) – Maximum time to wait up to in seconds.
Returns:: StatusCode of the set command
Return type:: StatusCode

clear_sticky_fault_remote_sensor_data_invalid(timeout_seconds: phoenix6.units.second = 0.1) → phoenix6.status_signal.StatusCode#

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.

Parameters:: timeout_seconds (second) – Maximum time to wait up to in seconds.
Returns:: StatusCode of the set command
Return type:: StatusCode

clear_sticky_fault_fused_sensor_out_of_sync(timeout_seconds: phoenix6.units.second = 0.1) → phoenix6.status_signal.StatusCode#

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.

Parameters:: timeout_seconds (second) – Maximum time to wait up to in seconds.
Returns:: StatusCode of the set command
Return type:: StatusCode

clear_sticky_fault_stator_curr_limit(timeout_seconds: phoenix6.units.second = 0.1) → phoenix6.status_signal.StatusCode#

Clear sticky fault: Stator current limit occured.

Parameters:: timeout_seconds (second) – Maximum time to wait up to in seconds.
Returns:: StatusCode of the set command
Return type:: StatusCode

clear_sticky_fault_supply_curr_limit(timeout_seconds: phoenix6.units.second = 0.1) → phoenix6.status_signal.StatusCode#

Clear sticky fault: Supply current limit occured.

Parameters:: timeout_seconds (second) – Maximum time to wait up to in seconds.
Returns:: StatusCode of the set command
Return type:: StatusCode

clear_sticky_fault_using_fused_cancoder_while_unlicensed(timeout_seconds: phoenix6.units.second = 0.1) → phoenix6.status_signal.StatusCode#

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

Parameters:: timeout_seconds (second) – Maximum time to wait up to in seconds.
Returns:: StatusCode of the set command
Return type:: StatusCode

clear_sticky_fault_static_brake_disabled(timeout_seconds: phoenix6.units.second = 0.1) → phoenix6.status_signal.StatusCode#

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

Parameters:: timeout_seconds (second) – Maximum time to wait up to in seconds.
Returns:: StatusCode of the set command
Return type:: StatusCode

phoenix6.hardware.traits.has_talon_signals#

Module Contents#

`phoenix6.hardware.traits.has_talon_signals`#