:py:mod:`phoenix6.hardware.traits.has_talon_signals`
====================================================

.. py:module:: phoenix6.hardware.traits.has_talon_signals

Module Contents
---------------


.. py:class:: HasTalonSignals


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

   .. py:method:: get_version_major(refresh: bool = True) -> phoenix6.status_signal.StatusSignal[int]

      App Major Version number.

          - Minimum Value: 0
          - Maximum Value: 255
          - Default Value: 0
          - Units: 

      This refreshes and returns a cached StatusSignal object.

      :param refresh: Whether to refresh the StatusSignal before returning it; defaults to true
      :type refresh: bool
      :returns: VersionMajor Status Signal Object
      :rtype: StatusSignal[int]


   .. py:method:: get_version_minor(refresh: bool = True) -> phoenix6.status_signal.StatusSignal[int]

      App Minor Version number.

          - Minimum Value: 0
          - Maximum Value: 255
          - Default Value: 0
          - Units: 

      This refreshes and returns a cached StatusSignal object.

      :param refresh: Whether to refresh the StatusSignal before returning it; defaults to true
      :type refresh: bool
      :returns: VersionMinor Status Signal Object
      :rtype: StatusSignal[int]


   .. py:method:: get_version_bugfix(refresh: bool = True) -> phoenix6.status_signal.StatusSignal[int]

      App Bugfix Version number.

          - Minimum Value: 0
          - Maximum Value: 255
          - Default Value: 0
          - Units: 

      This refreshes and returns a cached StatusSignal object.

      :param refresh: Whether to refresh the StatusSignal before returning it; defaults to true
      :type refresh: bool
      :returns: VersionBugfix Status Signal Object
      :rtype: StatusSignal[int]


   .. py:method:: get_version_build(refresh: bool = True) -> phoenix6.status_signal.StatusSignal[int]

      App Build Version number.

          - Minimum Value: 0
          - Maximum Value: 255
          - Default Value: 0
          - Units: 

      This refreshes and returns a cached StatusSignal object.

      :param refresh: Whether to refresh the StatusSignal before returning it; defaults to true
      :type refresh: bool
      :returns: VersionBuild Status Signal Object
      :rtype: StatusSignal[int]


   .. py:method:: get_version(refresh: bool = True) -> phoenix6.status_signal.StatusSignal[int]

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

          - Minimum Value: 0
          - Maximum Value: 4294967295
          - Default Value: 0
          - Units: 

      This refreshes and returns a cached StatusSignal object.

      :param refresh: Whether to refresh the StatusSignal before returning it; defaults to true
      :type refresh: bool
      :returns: Version Status Signal Object
      :rtype: StatusSignal[int]


   .. py:method:: 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.

          - Minimum Value: 0
          - Maximum Value: 4294967295
          - Default Value: 0
          - Units: 

      This refreshes and returns a cached StatusSignal object.

      :param refresh: Whether to refresh the StatusSignal before returning it; defaults to true
      :type refresh: bool
      :returns: FaultField Status Signal Object
      :rtype: StatusSignal[int]


   .. py:method:: 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.

          - Minimum Value: 0
          - Maximum Value: 4294967295
          - Default Value: 0
          - Units: 

      This refreshes and returns a cached StatusSignal object.

      :param refresh: Whether to refresh the StatusSignal before returning it; defaults to true
      :type refresh: bool
      :returns: StickyFaultField Status Signal Object
      :rtype: StatusSignal[int]


   .. py:method:: get_motor_voltage(refresh: bool = True) -> phoenix6.status_signal.StatusSignal[phoenix6.units.volt]

      The applied (output) motor voltage.

          - Minimum Value: -40.96
          - Maximum Value: 40.95
          - Default Value: 0
          - Units: V

      This refreshes and returns a cached StatusSignal object.

      :param refresh: Whether to refresh the StatusSignal before returning it; defaults to true
      :type refresh: bool
      :returns: MotorVoltage Status Signal Object
      :rtype: StatusSignal[volt]


   .. py:method:: 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.

      :param refresh: Whether to refresh the StatusSignal before returning it; defaults to true
      :type refresh: bool
      :returns: ForwardLimit Status Signal Object
      :rtype: StatusSignal[ForwardLimitValue]


   .. py:method:: 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.

      :param refresh: Whether to refresh the StatusSignal before returning it; defaults to true
      :type refresh: bool
      :returns: ReverseLimit Status Signal Object
      :rtype: StatusSignal[ReverseLimitValue]


   .. py:method:: 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.

      :param refresh: Whether to refresh the StatusSignal before returning it; defaults to true
      :type refresh: bool
      :returns: AppliedRotorPolarity Status Signal Object
      :rtype: StatusSignal[AppliedRotorPolarityValue]


   .. py:method:: get_duty_cycle(refresh: bool = True) -> phoenix6.status_signal.StatusSignal[float]

      The applied motor duty cycle.

          - Minimum Value: -2.0
          - Maximum Value: 1.9990234375
          - Default Value: 0
          - Units: fractional

      This refreshes and returns a cached StatusSignal object.

      :param refresh: Whether to refresh the StatusSignal before returning it; defaults to true
      :type refresh: bool
      :returns: DutyCycle Status Signal Object
      :rtype: StatusSignal[float]


   .. py:method:: 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.

          - Minimum Value: -327.68
          - Maximum Value: 327.67
          - Default Value: 0
          - Units: A

      This refreshes and returns a cached StatusSignal object.

      :param refresh: Whether to refresh the StatusSignal before returning it; defaults to true
      :type refresh: bool
      :returns: TorqueCurrent Status Signal Object
      :rtype: StatusSignal[ampere]


   .. py:method:: 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.

          - Minimum Value: -327.68
          - Maximum Value: 327.66
          - Default Value: 0
          - Units: A

      This refreshes and returns a cached StatusSignal object.

      :param refresh: Whether to refresh the StatusSignal before returning it; defaults to true
      :type refresh: bool
      :returns: StatorCurrent Status Signal Object
      :rtype: StatusSignal[ampere]


   .. py:method:: get_supply_current(refresh: bool = True) -> phoenix6.status_signal.StatusSignal[phoenix6.units.ampere]

      Measured supply side current.

          - Minimum Value: -327.68
          - Maximum Value: 327.66
          - Default Value: 0
          - Units: A

      This refreshes and returns a cached StatusSignal object.

      :param refresh: Whether to refresh the StatusSignal before returning it; defaults to true
      :type refresh: bool
      :returns: SupplyCurrent Status Signal Object
      :rtype: StatusSignal[ampere]


   .. py:method:: get_supply_voltage(refresh: bool = True) -> phoenix6.status_signal.StatusSignal[phoenix6.units.volt]

      Measured supply voltage to the device.

          - Minimum Value: 4
          - Maximum Value: 29.575
          - Default Value: 4
          - Units: V

      This refreshes and returns a cached StatusSignal object.

      :param refresh: Whether to refresh the StatusSignal before returning it; defaults to true
      :type refresh: bool
      :returns: SupplyVoltage Status Signal Object
      :rtype: StatusSignal[volt]


   .. py:method:: 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.

          - Minimum Value: 0.0
          - Maximum Value: 255.0
          - Default Value: 0
          - Units: ℃

      This refreshes and returns a cached StatusSignal object.

      :param refresh: Whether to refresh the StatusSignal before returning it; defaults to true
      :type refresh: bool
      :returns: DeviceTemp Status Signal Object
      :rtype: StatusSignal[celsius]


   .. py:method:: 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.

          - Minimum Value: 0.0
          - Maximum Value: 255.0
          - Default Value: 0
          - Units: ℃

      This refreshes and returns a cached StatusSignal object.

      :param refresh: Whether to refresh the StatusSignal before returning it; defaults to true
      :type refresh: bool
      :returns: ProcessorTemp Status Signal Object
      :rtype: StatusSignal[celsius]


   .. py:method:: 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.

          - Minimum Value: -512.0
          - Maximum Value: 511.998046875
          - Default Value: 0
          - Units: rotations per second

      This refreshes and returns a cached StatusSignal object.

      :param refresh: Whether to refresh the StatusSignal before returning it; defaults to true
      :type refresh: bool
      :returns: RotorVelocity Status Signal Object
      :rtype: StatusSignal[rotations_per_second]


   .. py:method:: 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.

          - Minimum Value: -16384.0
          - Maximum Value: 16383.999755859375
          - Default Value: 0
          - Units: rotations

      This refreshes and returns a cached StatusSignal object.

      :param refresh: Whether to refresh the StatusSignal before returning it; defaults to true
      :type refresh: bool
      :returns: RotorPosition Status Signal Object
      :rtype: StatusSignal[rotation]


   .. py:method:: 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.

          - Minimum Value: -512.0
          - Maximum Value: 511.998046875
          - Default Value: 0
          - Units: rotations per second

      This refreshes and returns a cached StatusSignal object.

      :param refresh: Whether to refresh the StatusSignal before returning it; defaults to true
      :type refresh: bool
      :returns: Velocity Status Signal Object
      :rtype: StatusSignal[rotations_per_second]


   .. py:method:: 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.

          - Minimum Value: -16384.0
          - Maximum Value: 16383.999755859375
          - Default Value: 0
          - Units: rotations

      This refreshes and returns a cached StatusSignal object.

      :param refresh: Whether to refresh the StatusSignal before returning it; defaults to true
      :type refresh: bool
      :returns: Position Status Signal Object
      :rtype: StatusSignal[rotation]


   .. py:method:: 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.

          - Minimum Value: -2048.0
          - Maximum Value: 2047.75
          - Default Value: 0
          - Units: rotations per second²

      This refreshes and returns a cached StatusSignal object.

      :param refresh: Whether to refresh the StatusSignal before returning it; defaults to true
      :type refresh: bool
      :returns: Acceleration Status Signal Object
      :rtype: StatusSignal[rotations_per_second_squared]


   .. py:method:: 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.

      :param refresh: Whether to refresh the StatusSignal before returning it; defaults to true
      :type refresh: bool
      :returns: ControlMode Status Signal Object
      :rtype: StatusSignal[ControlModeValue]


   .. py:method:: 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.

      :param refresh: Whether to refresh the StatusSignal before returning it; defaults to true
      :type refresh: bool
      :returns: MotionMagicIsRunning Status Signal Object
      :rtype: StatusSignal[MotionMagicIsRunningValue]


   .. py:method:: 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.

      :param refresh: Whether to refresh the StatusSignal before returning it; defaults to true
      :type refresh: bool
      :returns: DeviceEnable Status Signal Object
      :rtype: StatusSignal[DeviceEnableValue]


   .. py:method:: get_closed_loop_slot(refresh: bool = True) -> phoenix6.status_signal.StatusSignal[int]

      The slot that the closed-loop PID is using.

          - Minimum Value: 0
          - Maximum Value: 2
          - Default Value: 0
          - Units: 

      This refreshes and returns a cached StatusSignal object.

      :param refresh: Whether to refresh the StatusSignal before returning it; defaults to true
      :type refresh: bool
      :returns: ClosedLoopSlot Status Signal Object
      :rtype: StatusSignal[int]


   .. py:method:: 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.

      :param refresh: Whether to refresh the StatusSignal before returning it; defaults to true
      :type refresh: bool
      :returns: MotorOutputStatus Status Signal Object
      :rtype: StatusSignal[MotorOutputStatusValue]


   .. py:method:: 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.

      :param refresh: Whether to refresh the StatusSignal before returning it; defaults to true
      :type refresh: bool
      :returns: DifferentialControlMode Status Signal Object
      :rtype: StatusSignal[DifferentialControlModeValue]


   .. py:method:: get_differential_average_velocity(refresh: bool = True) -> phoenix6.status_signal.StatusSignal[phoenix6.units.rotations_per_second]

      Average component of the differential velocity of device.

          - Minimum Value: -512.0
          - Maximum Value: 511.998046875
          - Default Value: 0
          - Units: rotations per second

      This refreshes and returns a cached StatusSignal object.

      :param refresh: Whether to refresh the StatusSignal before returning it; defaults to true
      :type refresh: bool
      :returns: DifferentialAverageVelocity Status Signal Object
      :rtype: StatusSignal[rotations_per_second]


   .. py:method:: get_differential_average_position(refresh: bool = True) -> phoenix6.status_signal.StatusSignal[phoenix6.units.rotation]

      Average component of the differential position of device.

          - Minimum Value: -16384.0
          - Maximum Value: 16383.999755859375
          - Default Value: 0
          - Units: rotations

      This refreshes and returns a cached StatusSignal object.

      :param refresh: Whether to refresh the StatusSignal before returning it; defaults to true
      :type refresh: bool
      :returns: DifferentialAveragePosition Status Signal Object
      :rtype: StatusSignal[rotation]


   .. py:method:: get_differential_difference_velocity(refresh: bool = True) -> phoenix6.status_signal.StatusSignal[phoenix6.units.rotations_per_second]

      Difference component of the differential velocity of device.

          - Minimum Value: -512.0
          - Maximum Value: 511.998046875
          - Default Value: 0
          - Units: rotations per second

      This refreshes and returns a cached StatusSignal object.

      :param refresh: Whether to refresh the StatusSignal before returning it; defaults to true
      :type refresh: bool
      :returns: DifferentialDifferenceVelocity Status Signal Object
      :rtype: StatusSignal[rotations_per_second]


   .. py:method:: get_differential_difference_position(refresh: bool = True) -> phoenix6.status_signal.StatusSignal[phoenix6.units.rotation]

      Difference component of the differential position of device.

          - Minimum Value: -16384.0
          - Maximum Value: 16383.999755859375
          - Default Value: 0
          - Units: rotations

      This refreshes and returns a cached StatusSignal object.

      :param refresh: Whether to refresh the StatusSignal before returning it; defaults to true
      :type refresh: bool
      :returns: DifferentialDifferencePosition Status Signal Object
      :rtype: StatusSignal[rotation]


   .. py:method:: get_differential_closed_loop_slot(refresh: bool = True) -> phoenix6.status_signal.StatusSignal[int]

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

          - Minimum Value: 0
          - Maximum Value: 2
          - Default Value: 0
          - Units: 

      This refreshes and returns a cached StatusSignal object.

      :param refresh: Whether to refresh the StatusSignal before returning it; defaults to true
      :type refresh: bool
      :returns: DifferentialClosedLoopSlot Status Signal Object
      :rtype: StatusSignal[int]


   .. py:method:: get_motor_kt(refresh: bool = True) -> phoenix6.status_signal.StatusSignal[phoenix6.units.newton_meters_per_ampere]

      The torque constant (K_T) of the motor.

          - Minimum Value: 0.0
          - Maximum Value: 0.025500000000000002
          - Default Value: 0
          - Units: Nm/A

      This refreshes and returns a cached StatusSignal object.

      :param refresh: Whether to refresh the StatusSignal before returning it; defaults to true
      :type refresh: bool
      :returns: MotorKT Status Signal Object
      :rtype: StatusSignal[newton_meters_per_ampere]


   .. py:method:: get_motor_kv(refresh: bool = True) -> phoenix6.status_signal.StatusSignal[phoenix6.units.rpm_per_volt]

      The velocity constant (K_V) of the motor.

          - Minimum Value: 0.0
          - Maximum Value: 2047.0
          - Default Value: 0
          - Units: RPM/V

      This refreshes and returns a cached StatusSignal object.

      :param refresh: Whether to refresh the StatusSignal before returning it; defaults to true
      :type refresh: bool
      :returns: MotorKV Status Signal Object
      :rtype: StatusSignal[rpm_per_volt]


   .. py:method:: get_motor_stall_current(refresh: bool = True) -> phoenix6.status_signal.StatusSignal[phoenix6.units.ampere]

      The stall current of the motor at 12 V output.

          - Minimum Value: 0.0
          - Maximum Value: 1023.0
          - Default Value: 0
          - Units: A

      This refreshes and returns a cached StatusSignal object.

      :param refresh: Whether to refresh the StatusSignal before returning it; defaults to true
      :type refresh: bool
      :returns: MotorStallCurrent Status Signal Object
      :rtype: StatusSignal[ampere]


   .. py:method:: 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.

      :param refresh: Whether to refresh the StatusSignal before returning it; defaults to true
      :type refresh: bool
      :returns: BridgeOutput Status Signal Object
      :rtype: StatusSignal[BridgeOutputValue]


   .. py:method:: get_is_pro_licensed(refresh: bool = True) -> phoenix6.status_signal.StatusSignal[bool]

      Whether the device is Phoenix Pro licensed.

          - Default Value: False

      This refreshes and returns a cached StatusSignal object.

      :param refresh: Whether to refresh the StatusSignal before returning it; defaults to true
      :type refresh: bool
      :returns: IsProLicensed Status Signal Object
      :rtype: StatusSignal[bool]


   .. py:method:: 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.

          - Minimum Value: 0.0
          - Maximum Value: 255.0
          - Default Value: 0
          - Units: ℃

      This refreshes and returns a cached StatusSignal object.

      :param refresh: Whether to refresh the StatusSignal before returning it; defaults to true
      :type refresh: bool
      :returns: AncillaryDeviceTemp Status Signal Object
      :rtype: StatusSignal[celsius]


   .. py:method:: 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.

      :param refresh: Whether to refresh the StatusSignal before returning it; defaults to true
      :type refresh: bool
      :returns: ConnectedMotor Status Signal Object
      :rtype: StatusSignal[ConnectedMotorValue]


   .. py:method:: get_fault_hardware(refresh: bool = True) -> phoenix6.status_signal.StatusSignal[bool]

      Hardware fault occurred

          - Default Value: False

      This refreshes and returns a cached StatusSignal object.

      :param refresh: Whether to refresh the StatusSignal before returning it; defaults to true
      :type refresh: bool
      :returns: Fault_Hardware Status Signal Object
      :rtype: StatusSignal[bool]


   .. py:method:: get_sticky_fault_hardware(refresh: bool = True) -> phoenix6.status_signal.StatusSignal[bool]

      Hardware fault occurred

          - Default Value: False

      This refreshes and returns a cached StatusSignal object.

      :param refresh: Whether to refresh the StatusSignal before returning it; defaults to true
      :type refresh: bool
      :returns: StickyFault_Hardware Status Signal Object
      :rtype: StatusSignal[bool]


   .. py:method:: get_fault_proc_temp(refresh: bool = True) -> phoenix6.status_signal.StatusSignal[bool]

      Processor temperature exceeded limit

          - Default Value: False

      This refreshes and returns a cached StatusSignal object.

      :param refresh: Whether to refresh the StatusSignal before returning it; defaults to true
      :type refresh: bool
      :returns: Fault_ProcTemp Status Signal Object
      :rtype: StatusSignal[bool]


   .. py:method:: get_sticky_fault_proc_temp(refresh: bool = True) -> phoenix6.status_signal.StatusSignal[bool]

      Processor temperature exceeded limit

          - Default Value: False

      This refreshes and returns a cached StatusSignal object.

      :param refresh: Whether to refresh the StatusSignal before returning it; defaults to true
      :type refresh: bool
      :returns: StickyFault_ProcTemp Status Signal Object
      :rtype: StatusSignal[bool]


   .. py:method:: get_fault_device_temp(refresh: bool = True) -> phoenix6.status_signal.StatusSignal[bool]

      Device temperature exceeded limit

          - Default Value: False

      This refreshes and returns a cached StatusSignal object.

      :param refresh: Whether to refresh the StatusSignal before returning it; defaults to true
      :type refresh: bool
      :returns: Fault_DeviceTemp Status Signal Object
      :rtype: StatusSignal[bool]


   .. py:method:: get_sticky_fault_device_temp(refresh: bool = True) -> phoenix6.status_signal.StatusSignal[bool]

      Device temperature exceeded limit

          - Default Value: False

      This refreshes and returns a cached StatusSignal object.

      :param refresh: Whether to refresh the StatusSignal before returning it; defaults to true
      :type refresh: bool
      :returns: StickyFault_DeviceTemp Status Signal Object
      :rtype: StatusSignal[bool]


   .. py:method:: get_fault_undervoltage(refresh: bool = True) -> phoenix6.status_signal.StatusSignal[bool]

      Device supply voltage dropped to near brownout levels

          - Default Value: False

      This refreshes and returns a cached StatusSignal object.

      :param refresh: Whether to refresh the StatusSignal before returning it; defaults to true
      :type refresh: bool
      :returns: Fault_Undervoltage Status Signal Object
      :rtype: StatusSignal[bool]


   .. py:method:: get_sticky_fault_undervoltage(refresh: bool = True) -> phoenix6.status_signal.StatusSignal[bool]

      Device supply voltage dropped to near brownout levels

          - Default Value: False

      This refreshes and returns a cached StatusSignal object.

      :param refresh: Whether to refresh the StatusSignal before returning it; defaults to true
      :type refresh: bool
      :returns: StickyFault_Undervoltage Status Signal Object
      :rtype: StatusSignal[bool]


   .. py:method:: get_fault_boot_during_enable(refresh: bool = True) -> phoenix6.status_signal.StatusSignal[bool]

      Device boot while detecting the enable signal

          - Default Value: False

      This refreshes and returns a cached StatusSignal object.

      :param refresh: Whether to refresh the StatusSignal before returning it; defaults to true
      :type refresh: bool
      :returns: Fault_BootDuringEnable Status Signal Object
      :rtype: StatusSignal[bool]


   .. py:method:: get_sticky_fault_boot_during_enable(refresh: bool = True) -> phoenix6.status_signal.StatusSignal[bool]

      Device boot while detecting the enable signal

          - Default Value: False

      This refreshes and returns a cached StatusSignal object.

      :param refresh: Whether to refresh the StatusSignal before returning it; defaults to true
      :type refresh: bool
      :returns: StickyFault_BootDuringEnable Status Signal Object
      :rtype: StatusSignal[bool]


   .. py:method:: 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.

          - Default Value: False

      This refreshes and returns a cached StatusSignal object.

      :param refresh: Whether to refresh the StatusSignal before returning it; defaults to true
      :type refresh: bool
      :returns: Fault_UnlicensedFeatureInUse Status Signal Object
      :rtype: StatusSignal[bool]


   .. py:method:: 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.

          - Default Value: False

      This refreshes and returns a cached StatusSignal object.

      :param refresh: Whether to refresh the StatusSignal before returning it; defaults to true
      :type refresh: bool
      :returns: StickyFault_UnlicensedFeatureInUse Status Signal Object
      :rtype: StatusSignal[bool]


   .. py:method:: get_fault_bridge_brownout(refresh: bool = True) -> phoenix6.status_signal.StatusSignal[bool]

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

          - Default Value: False

      This refreshes and returns a cached StatusSignal object.

      :param refresh: Whether to refresh the StatusSignal before returning it; defaults to true
      :type refresh: bool
      :returns: Fault_BridgeBrownout Status Signal Object
      :rtype: StatusSignal[bool]


   .. py:method:: 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.

          - Default Value: False

      This refreshes and returns a cached StatusSignal object.

      :param refresh: Whether to refresh the StatusSignal before returning it; defaults to true
      :type refresh: bool
      :returns: StickyFault_BridgeBrownout Status Signal Object
      :rtype: StatusSignal[bool]


   .. py:method:: get_fault_remote_sensor_reset(refresh: bool = True) -> phoenix6.status_signal.StatusSignal[bool]

      The remote sensor has reset.

          - Default Value: False

      This refreshes and returns a cached StatusSignal object.

      :param refresh: Whether to refresh the StatusSignal before returning it; defaults to true
      :type refresh: bool
      :returns: Fault_RemoteSensorReset Status Signal Object
      :rtype: StatusSignal[bool]


   .. py:method:: get_sticky_fault_remote_sensor_reset(refresh: bool = True) -> phoenix6.status_signal.StatusSignal[bool]

      The remote sensor has reset.

          - Default Value: False

      This refreshes and returns a cached StatusSignal object.

      :param refresh: Whether to refresh the StatusSignal before returning it; defaults to true
      :type refresh: bool
      :returns: StickyFault_RemoteSensorReset Status Signal Object
      :rtype: StatusSignal[bool]


   .. py:method:: 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.

          - Default Value: False

      This refreshes and returns a cached StatusSignal object.

      :param refresh: Whether to refresh the StatusSignal before returning it; defaults to true
      :type refresh: bool
      :returns: Fault_MissingDifferentialFX Status Signal Object
      :rtype: StatusSignal[bool]


   .. py:method:: 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.

          - Default Value: False

      This refreshes and returns a cached StatusSignal object.

      :param refresh: Whether to refresh the StatusSignal before returning it; defaults to true
      :type refresh: bool
      :returns: StickyFault_MissingDifferentialFX Status Signal Object
      :rtype: StatusSignal[bool]


   .. py:method:: 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.

          - Default Value: False

      This refreshes and returns a cached StatusSignal object.

      :param refresh: Whether to refresh the StatusSignal before returning it; defaults to true
      :type refresh: bool
      :returns: Fault_RemoteSensorPosOverflow Status Signal Object
      :rtype: StatusSignal[bool]


   .. py:method:: get_sticky_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.

          - Default Value: False

      This refreshes and returns a cached StatusSignal object.

      :param refresh: Whether to refresh the StatusSignal before returning it; defaults to true
      :type refresh: bool
      :returns: StickyFault_RemoteSensorPosOverflow Status Signal Object
      :rtype: StatusSignal[bool]


   .. py:method:: get_fault_over_supply_v(refresh: bool = True) -> phoenix6.status_signal.StatusSignal[bool]

      Supply Voltage has exceeded the maximum voltage rating of device.

          - Default Value: False

      This refreshes and returns a cached StatusSignal object.

      :param refresh: Whether to refresh the StatusSignal before returning it; defaults to true
      :type refresh: bool
      :returns: Fault_OverSupplyV Status Signal Object
      :rtype: StatusSignal[bool]


   .. py:method:: get_sticky_fault_over_supply_v(refresh: bool = True) -> phoenix6.status_signal.StatusSignal[bool]

      Supply Voltage has exceeded the maximum voltage rating of device.

          - Default Value: False

      This refreshes and returns a cached StatusSignal object.

      :param refresh: Whether to refresh the StatusSignal before returning it; defaults to true
      :type refresh: bool
      :returns: StickyFault_OverSupplyV Status Signal Object
      :rtype: StatusSignal[bool]


   .. py:method:: 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.

          - Default Value: False

      This refreshes and returns a cached StatusSignal object.

      :param refresh: Whether to refresh the StatusSignal before returning it; defaults to true
      :type refresh: bool
      :returns: Fault_UnstableSupplyV Status Signal Object
      :rtype: StatusSignal[bool]


   .. py:method:: 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.

          - Default Value: False

      This refreshes and returns a cached StatusSignal object.

      :param refresh: Whether to refresh the StatusSignal before returning it; defaults to true
      :type refresh: bool
      :returns: StickyFault_UnstableSupplyV Status Signal Object
      :rtype: StatusSignal[bool]


   .. py:method:: get_fault_reverse_hard_limit(refresh: bool = True) -> phoenix6.status_signal.StatusSignal[bool]

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

          - Default Value: False

      This refreshes and returns a cached StatusSignal object.

      :param refresh: Whether to refresh the StatusSignal before returning it; defaults to true
      :type refresh: bool
      :returns: Fault_ReverseHardLimit Status Signal Object
      :rtype: StatusSignal[bool]


   .. py:method:: 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.

          - Default Value: False

      This refreshes and returns a cached StatusSignal object.

      :param refresh: Whether to refresh the StatusSignal before returning it; defaults to true
      :type refresh: bool
      :returns: StickyFault_ReverseHardLimit Status Signal Object
      :rtype: StatusSignal[bool]


   .. py:method:: get_fault_forward_hard_limit(refresh: bool = True) -> phoenix6.status_signal.StatusSignal[bool]

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

          - Default Value: False

      This refreshes and returns a cached StatusSignal object.

      :param refresh: Whether to refresh the StatusSignal before returning it; defaults to true
      :type refresh: bool
      :returns: Fault_ForwardHardLimit Status Signal Object
      :rtype: StatusSignal[bool]


   .. py:method:: 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.

          - Default Value: False

      This refreshes and returns a cached StatusSignal object.

      :param refresh: Whether to refresh the StatusSignal before returning it; defaults to true
      :type refresh: bool
      :returns: StickyFault_ForwardHardLimit Status Signal Object
      :rtype: StatusSignal[bool]


   .. py:method:: get_fault_reverse_soft_limit(refresh: bool = True) -> phoenix6.status_signal.StatusSignal[bool]

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

          - Default Value: False

      This refreshes and returns a cached StatusSignal object.

      :param refresh: Whether to refresh the StatusSignal before returning it; defaults to true
      :type refresh: bool
      :returns: Fault_ReverseSoftLimit Status Signal Object
      :rtype: StatusSignal[bool]


   .. py:method:: 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.

          - Default Value: False

      This refreshes and returns a cached StatusSignal object.

      :param refresh: Whether to refresh the StatusSignal before returning it; defaults to true
      :type refresh: bool
      :returns: StickyFault_ReverseSoftLimit Status Signal Object
      :rtype: StatusSignal[bool]


   .. py:method:: get_fault_forward_soft_limit(refresh: bool = True) -> phoenix6.status_signal.StatusSignal[bool]

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

          - Default Value: False

      This refreshes and returns a cached StatusSignal object.

      :param refresh: Whether to refresh the StatusSignal before returning it; defaults to true
      :type refresh: bool
      :returns: Fault_ForwardSoftLimit Status Signal Object
      :rtype: StatusSignal[bool]


   .. py:method:: 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.

          - Default Value: False

      This refreshes and returns a cached StatusSignal object.

      :param refresh: Whether to refresh the StatusSignal before returning it; defaults to true
      :type refresh: bool
      :returns: StickyFault_ForwardSoftLimit Status Signal Object
      :rtype: StatusSignal[bool]


   .. py:method:: 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.

          - Default Value: False

      This refreshes and returns a cached StatusSignal object.

      :param refresh: Whether to refresh the StatusSignal before returning it; defaults to true
      :type refresh: bool
      :returns: Fault_MissingSoftLimitRemote Status Signal Object
      :rtype: StatusSignal[bool]


   .. py:method:: 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.

          - Default Value: False

      This refreshes and returns a cached StatusSignal object.

      :param refresh: Whether to refresh the StatusSignal before returning it; defaults to true
      :type refresh: bool
      :returns: StickyFault_MissingSoftLimitRemote Status Signal Object
      :rtype: StatusSignal[bool]


   .. py:method:: 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.

          - Default Value: False

      This refreshes and returns a cached StatusSignal object.

      :param refresh: Whether to refresh the StatusSignal before returning it; defaults to true
      :type refresh: bool
      :returns: Fault_MissingHardLimitRemote Status Signal Object
      :rtype: StatusSignal[bool]


   .. py:method:: 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.

          - Default Value: False

      This refreshes and returns a cached StatusSignal object.

      :param refresh: Whether to refresh the StatusSignal before returning it; defaults to true
      :type refresh: bool
      :returns: StickyFault_MissingHardLimitRemote Status Signal Object
      :rtype: StatusSignal[bool]


   .. py:method:: 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.

          - Default Value: False

      This refreshes and returns a cached StatusSignal object.

      :param refresh: Whether to refresh the StatusSignal before returning it; defaults to true
      :type refresh: bool
      :returns: Fault_RemoteSensorDataInvalid Status Signal Object
      :rtype: StatusSignal[bool]


   .. py:method:: get_sticky_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.

          - Default Value: False

      This refreshes and returns a cached StatusSignal object.

      :param refresh: Whether to refresh the StatusSignal before returning it; defaults to true
      :type refresh: bool
      :returns: StickyFault_RemoteSensorDataInvalid Status Signal Object
      :rtype: StatusSignal[bool]


   .. py:method:: 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.

          - Default Value: False

      This refreshes and returns a cached StatusSignal object.

      :param refresh: Whether to refresh the StatusSignal before returning it; defaults to true
      :type refresh: bool
      :returns: Fault_FusedSensorOutOfSync Status Signal Object
      :rtype: StatusSignal[bool]


   .. py:method:: get_sticky_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.

          - Default Value: False

      This refreshes and returns a cached StatusSignal object.

      :param refresh: Whether to refresh the StatusSignal before returning it; defaults to true
      :type refresh: bool
      :returns: StickyFault_FusedSensorOutOfSync Status Signal Object
      :rtype: StatusSignal[bool]


   .. py:method:: get_fault_stator_curr_limit(refresh: bool = True) -> phoenix6.status_signal.StatusSignal[bool]

      Stator current limit occured.

          - Default Value: False

      This refreshes and returns a cached StatusSignal object.

      :param refresh: Whether to refresh the StatusSignal before returning it; defaults to true
      :type refresh: bool
      :returns: Fault_StatorCurrLimit Status Signal Object
      :rtype: StatusSignal[bool]


   .. py:method:: get_sticky_fault_stator_curr_limit(refresh: bool = True) -> phoenix6.status_signal.StatusSignal[bool]

      Stator current limit occured.

          - Default Value: False

      This refreshes and returns a cached StatusSignal object.

      :param refresh: Whether to refresh the StatusSignal before returning it; defaults to true
      :type refresh: bool
      :returns: StickyFault_StatorCurrLimit Status Signal Object
      :rtype: StatusSignal[bool]


   .. py:method:: get_fault_supply_curr_limit(refresh: bool = True) -> phoenix6.status_signal.StatusSignal[bool]

      Supply current limit occured.

          - Default Value: False

      This refreshes and returns a cached StatusSignal object.

      :param refresh: Whether to refresh the StatusSignal before returning it; defaults to true
      :type refresh: bool
      :returns: Fault_SupplyCurrLimit Status Signal Object
      :rtype: StatusSignal[bool]


   .. py:method:: get_sticky_fault_supply_curr_limit(refresh: bool = True) -> phoenix6.status_signal.StatusSignal[bool]

      Supply current limit occured.

          - Default Value: False

      This refreshes and returns a cached StatusSignal object.

      :param refresh: Whether to refresh the StatusSignal before returning it; defaults to true
      :type refresh: bool
      :returns: StickyFault_SupplyCurrLimit Status Signal Object
      :rtype: StatusSignal[bool]


   .. py:method:: 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.

          - Default Value: False

      This refreshes and returns a cached StatusSignal object.

      :param refresh: Whether to refresh the StatusSignal before returning it; defaults to true
      :type refresh: bool
      :returns: Fault_UsingFusedCANcoderWhileUnlicensed Status Signal Object
      :rtype: StatusSignal[bool]


   .. py:method:: 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.

          - Default Value: False

      This refreshes and returns a cached StatusSignal object.

      :param refresh: Whether to refresh the StatusSignal before returning it; defaults to true
      :type refresh: bool
      :returns: StickyFault_UsingFusedCANcoderWhileUnlicensed Status Signal Object
      :rtype: StatusSignal[bool]


   .. py:method:: 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.

          - Default Value: False

      This refreshes and returns a cached StatusSignal object.

      :param refresh: Whether to refresh the StatusSignal before returning it; defaults to true
      :type refresh: bool
      :returns: Fault_StaticBrakeDisabled Status Signal Object
      :rtype: StatusSignal[bool]


   .. py:method:: 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.

          - Default Value: False

      This refreshes and returns a cached StatusSignal object.

      :param refresh: Whether to refresh the StatusSignal before returning it; defaults to true
      :type refresh: bool
      :returns: StickyFault_StaticBrakeDisabled Status Signal Object
      :rtype: StatusSignal[bool]


   .. py:method:: 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.

      :param refresh: Whether to refresh the StatusSignal before returning it; defaults to true
      :type refresh: bool
      :returns: ClosedLoopProportionalOutput Status Signal object
      :rtype: StatusSignal[float]


   .. py:method:: 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.

      :param refresh: Whether to refresh the StatusSignal before returning it; defaults to true
      :type refresh: bool
      :returns: ClosedLoopIntegratedOutput Status Signal object
      :rtype: StatusSignal[float]


   .. py:method:: 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.

      :param refresh: Whether to refresh the StatusSignal before returning it; defaults to true
      :type refresh: bool
      :returns: ClosedLoopFeedForward Status Signal object
      :rtype: StatusSignal[float]


   .. py:method:: 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.

      :param refresh: Whether to refresh the StatusSignal before returning it; defaults to true
      :type refresh: bool
      :returns: ClosedLoopDerivativeOutput Status Signal object
      :rtype: StatusSignal[float]


   .. py:method:: 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.

      :param refresh: Whether to refresh the StatusSignal before returning it; defaults to true
      :type refresh: bool
      :returns: ClosedLoopOutput Status Signal object
      :rtype: StatusSignal[float]


   .. py:method:: 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.

      :param refresh: Whether to refresh the StatusSignal before returning it; defaults to true
      :type refresh: bool
      :returns: ClosedLoopReference Status Signal object
      :rtype: StatusSignal[float]


   .. py:method:: 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.

      :param refresh: Whether to refresh the StatusSignal before returning it; defaults to true
      :type refresh: bool
      :returns: ClosedLoopReferenceSlope Status Signal object
      :rtype: StatusSignal[float]


   .. py:method:: 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.

      :param refresh: Whether to refresh the StatusSignal before returning it; defaults to true
      :type refresh: bool
      :returns: ClosedLoopError Status Signal object
      :rtype: StatusSignal[float]


   .. py:method:: 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.

      :param refresh: Whether to refresh the StatusSignal before returning it; defaults to true
      :type refresh: bool
      :returns: DifferentialOutput Status Signal object
      :rtype: StatusSignal[float]


   .. py:method:: 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.

      :param refresh: Whether to refresh the StatusSignal before returning it; defaults to true
      :type refresh: bool
      :returns: DifferentialClosedLoopProportionalOutput Status Signal object
      :rtype: StatusSignal[float]


   .. py:method:: 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.

      :param refresh: Whether to refresh the StatusSignal before returning it; defaults to true
      :type refresh: bool
      :returns: DifferentialClosedLoopIntegratedOutput Status Signal object
      :rtype: StatusSignal[float]


   .. py:method:: 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.

      :param refresh: Whether to refresh the StatusSignal before returning it; defaults to true
      :type refresh: bool
      :returns: DifferentialClosedLoopFeedForward Status Signal object
      :rtype: StatusSignal[float]


   .. py:method:: 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.

      :param refresh: Whether to refresh the StatusSignal before returning it; defaults to true
      :type refresh: bool
      :returns: DifferentialClosedLoopDerivativeOutput Status Signal object
      :rtype: StatusSignal[float]


   .. py:method:: 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.

      :param refresh: Whether to refresh the StatusSignal before returning it; defaults to true
      :type refresh: bool
      :returns: DifferentialClosedLoopOutput Status Signal object
      :rtype: StatusSignal[float]


   .. py:method:: 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.

      :param refresh: Whether to refresh the StatusSignal before returning it; defaults to true
      :type refresh: bool
      :returns: DifferentialClosedLoopReference Status Signal object
      :rtype: StatusSignal[float]


   .. py:method:: 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 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.

      :param refresh: Whether to refresh the StatusSignal before returning it; defaults to true
      :type refresh: bool
      :returns: DifferentialClosedLoopReferenceSlope Status Signal object
      :rtype: StatusSignal[float]


   .. py:method:: 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.

      :param refresh: Whether to refresh the StatusSignal before returning it; defaults to true
      :type refresh: bool
      :returns: DifferentialClosedLoopError Status Signal object
      :rtype: StatusSignal[float]


   .. py:method:: 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.

      :param new_value: Value to set to. Units are in rotations.
      :type new_value: rotation
      :param timeout_seconds: Maximum time to wait up to in seconds.
      :type timeout_seconds: second
      :returns: StatusCode of the set command
      :rtype: StatusCode


   .. py:method:: 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.

      :param timeout_seconds: Maximum time to wait up to in seconds.
      :type timeout_seconds: second
      :returns: StatusCode of the set command
      :rtype: StatusCode


   .. py:method:: clear_sticky_fault_hardware(timeout_seconds: phoenix6.units.second = 0.1) -> phoenix6.status_signal.StatusCode

      Clear sticky fault: Hardware fault occurred

      :param timeout_seconds: Maximum time to wait up to in seconds.
      :type timeout_seconds: second
      :returns: StatusCode of the set command
      :rtype: StatusCode


   .. py:method:: clear_sticky_fault_proc_temp(timeout_seconds: phoenix6.units.second = 0.1) -> phoenix6.status_signal.StatusCode

      Clear sticky fault: Processor temperature exceeded limit

      :param timeout_seconds: Maximum time to wait up to in seconds.
      :type timeout_seconds: second
      :returns: StatusCode of the set command
      :rtype: StatusCode


   .. py:method:: clear_sticky_fault_device_temp(timeout_seconds: phoenix6.units.second = 0.1) -> phoenix6.status_signal.StatusCode

      Clear sticky fault: Device temperature exceeded limit

      :param timeout_seconds: Maximum time to wait up to in seconds.
      :type timeout_seconds: second
      :returns: StatusCode of the set command
      :rtype: StatusCode


   .. py:method:: 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

      :param timeout_seconds: Maximum time to wait up to in seconds.
      :type timeout_seconds: second
      :returns: StatusCode of the set command
      :rtype: StatusCode


   .. py:method:: 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

      :param timeout_seconds: Maximum time to wait up to in seconds.
      :type timeout_seconds: second
      :returns: StatusCode of the set command
      :rtype: StatusCode


   .. py:method:: 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.

      :param timeout_seconds: Maximum time to wait up to in seconds.
      :type timeout_seconds: second
      :returns: StatusCode of the set command
      :rtype: StatusCode


   .. py:method:: 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.

      :param timeout_seconds: Maximum time to wait up to in seconds.
      :type timeout_seconds: second
      :returns: StatusCode of the set command
      :rtype: StatusCode


   .. py:method:: 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.

      :param timeout_seconds: Maximum time to wait up to in seconds.
      :type timeout_seconds: second
      :returns: StatusCode of the set command
      :rtype: StatusCode


   .. py:method:: 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.

      :param timeout_seconds: Maximum time to wait up to in seconds.
      :type timeout_seconds: second
      :returns: StatusCode of the set command
      :rtype: StatusCode


   .. py:method:: 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.

      :param timeout_seconds: Maximum time to wait up to in seconds.
      :type timeout_seconds: second
      :returns: StatusCode of the set command
      :rtype: StatusCode


   .. py:method:: 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.

      :param timeout_seconds: Maximum time to wait up to in seconds.
      :type timeout_seconds: second
      :returns: StatusCode of the set command
      :rtype: StatusCode


   .. py:method:: 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.

      :param timeout_seconds: Maximum time to wait up to in seconds.
      :type timeout_seconds: second
      :returns: StatusCode of the set command
      :rtype: StatusCode


   .. py:method:: 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.

      :param timeout_seconds: Maximum time to wait up to in seconds.
      :type timeout_seconds: second
      :returns: StatusCode of the set command
      :rtype: StatusCode


   .. py:method:: 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.

      :param timeout_seconds: Maximum time to wait up to in seconds.
      :type timeout_seconds: second
      :returns: StatusCode of the set command
      :rtype: StatusCode


   .. py:method:: 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.

      :param timeout_seconds: Maximum time to wait up to in seconds.
      :type timeout_seconds: second
      :returns: StatusCode of the set command
      :rtype: StatusCode


   .. py:method:: 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.

      :param timeout_seconds: Maximum time to wait up to in seconds.
      :type timeout_seconds: second
      :returns: StatusCode of the set command
      :rtype: StatusCode


   .. py:method:: 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.

      :param timeout_seconds: Maximum time to wait up to in seconds.
      :type timeout_seconds: second
      :returns: StatusCode of the set command
      :rtype: StatusCode


   .. py:method:: 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.

      :param timeout_seconds: Maximum time to wait up to in seconds.
      :type timeout_seconds: second
      :returns: StatusCode of the set command
      :rtype: StatusCode


   .. py:method:: 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.

      :param timeout_seconds: Maximum time to wait up to in seconds.
      :type timeout_seconds: second
      :returns: StatusCode of the set command
      :rtype: StatusCode


   .. py:method:: 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.

      :param timeout_seconds: Maximum time to wait up to in seconds.
      :type timeout_seconds: second
      :returns: StatusCode of the set command
      :rtype: StatusCode


   .. py:method:: clear_sticky_fault_stator_curr_limit(timeout_seconds: phoenix6.units.second = 0.1) -> phoenix6.status_signal.StatusCode

      Clear sticky fault: Stator current limit occured.

      :param timeout_seconds: Maximum time to wait up to in seconds.
      :type timeout_seconds: second
      :returns: StatusCode of the set command
      :rtype: StatusCode


   .. py:method:: clear_sticky_fault_supply_curr_limit(timeout_seconds: phoenix6.units.second = 0.1) -> phoenix6.status_signal.StatusCode

      Clear sticky fault: Supply current limit occured.

      :param timeout_seconds: Maximum time to wait up to in seconds.
      :type timeout_seconds: second
      :returns: StatusCode of the set command
      :rtype: StatusCode


   .. py:method:: 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.

      :param timeout_seconds: Maximum time to wait up to in seconds.
      :type timeout_seconds: second
      :returns: StatusCode of the set command
      :rtype: StatusCode


   .. py:method:: 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.

      :param timeout_seconds: Maximum time to wait up to in seconds.
      :type timeout_seconds: second
      :returns: StatusCode of the set command
      :rtype: StatusCode