phoenix6.configs

class phoenix6.configs.SupportsSerialization¶

Bases: Protocol

Base class for protocol classes.

Protocol classes are defined as:

class Proto(Protocol):
    def meth(self) -> int:
        ...

Such classes are primarily used with static type checkers that recognize structural subtyping (static duck-typing).

For example:

class C:
    def meth(self) -> int:
        return 0

def func(x: Proto) -> int:
    return x.meth()

func(C())  # Passes static type check

See PEP 544 for details. Protocol classes decorated with @typing.runtime_checkable act as simple-minded runtime protocols that check only the presence of given attributes, ignoring their type signatures. Protocol classes can be generic, they are defined as:

class GenProto[T](Protocol):
    def meth(self) -> T:
        ...

serialize() → str¶

deserialize(to_deserialize: str) → phoenix6.status_code.StatusCode¶

class phoenix6.configs.MagnetSensorConfigs¶

Configs that affect the magnet sensor and how to interpret it.

Includes sensor direction, the sensor discontinuity point, and the magnet offset.

sensor_direction: SensorDirectionValue¶: Direction of the sensor to determine positive rotation, as seen facing the LED side of the CANcoder.

magnet_offset: phoenix6.units.rotation = 0¶

This offset is added to the reported position, allowing the application to trim the zero position. When set to the default value of zero, position reports zero when magnet north pole aligns with the LED.

Minimum Value: -1
Maximum Value: 1
Default Value: 0
Units: rotations

absolute_sensor_discontinuity_point: phoenix6.units.rotation = 0.5¶

The positive discontinuity point of the absolute sensor in rotations. This determines the point at which the absolute sensor wraps around, keeping the absolute position (after offset) in the range [x-1, x).

Setting this to 1 makes the absolute position unsigned [0, 1)
Setting this to 0.5 makes the absolute position signed [-0.5, 0.5)
Setting this to 0 makes the absolute position always negative [-1,

Many rotational mechanisms such as arms have a region of motion that is unreachable. This should be set to the center of that region of motion, in non-negative rotations. This affects the position of the device at bootup.

For example, consider an arm which can travel from -0.2 to 0.6 rotations with a little leeway, where 0 is horizontally forward. Since -0.2 rotations has the same absolute position as 0.8 rotations, we can say that the arm typically does not travel in the range (0.6, 0.8) rotations. As a result, the discontinuity point would be the center of that range, which is 0.7 rotations. This results in an absolute sensor range of [-0.3, 0.7) rotations.

Given a total range of motion less than 1 rotation, users can calculate the discontinuity point using mean(lowerLimit, upperLimit) + 0.5. If that results in a value outside the range [0, 1], either cap the value to [0, 1], or add/subtract 1.0 rotation from your lower and upper limits of motion.

On a Talon motor controller, this is only supported when using the PulseWidth sensor source.

Minimum Value: 0.0
Maximum Value: 1.0
Default Value: 0.5
Units: rotations

with_sensor_direction(new_sensor_direction: SensorDirectionValue) → MagnetSensorConfigs¶

Modifies this configuration’s sensor_direction parameter and returns itself for method-chaining and easier to use config API.

Direction of the sensor to determine positive rotation, as seen facing the LED side of the CANcoder.

Parameters:: new_sensor_direction (SensorDirectionValue) – Parameter to modify
Returns:: Itself
Return type:: MagnetSensorConfigs

with_magnet_offset(new_magnet_offset: phoenix6.units.rotation) → MagnetSensorConfigs¶

Modifies this configuration’s magnet_offset parameter and returns itself for method-chaining and easier to use config API.

This offset is added to the reported position, allowing the application to trim the zero position. When set to the default value of zero, position reports zero when magnet north pole aligns with the LED.

Minimum Value: -1
Maximum Value: 1
Default Value: 0
Units: rotations

Parameters:: new_magnet_offset (rotation) – Parameter to modify
Returns:: Itself
Return type:: MagnetSensorConfigs

with_absolute_sensor_discontinuity_point(new_absolute_sensor_discontinuity_point: phoenix6.units.rotation) → MagnetSensorConfigs¶

Modifies this configuration’s absolute_sensor_discontinuity_point parameter and returns itself for method-chaining and easier to use config API.

The positive discontinuity point of the absolute sensor in rotations. This determines the point at which the absolute sensor wraps around, keeping the absolute position (after offset) in the range [x-1, x).

Setting this to 1 makes the absolute position unsigned [0, 1)
Setting this to 0.5 makes the absolute position signed [-0.5, 0.5)
Setting this to 0 makes the absolute position always negative [-1,

Many rotational mechanisms such as arms have a region of motion that is unreachable. This should be set to the center of that region of motion, in non-negative rotations. This affects the position of the device at bootup.

For example, consider an arm which can travel from -0.2 to 0.6 rotations with a little leeway, where 0 is horizontally forward. Since -0.2 rotations has the same absolute position as 0.8 rotations, we can say that the arm typically does not travel in the range (0.6, 0.8) rotations. As a result, the discontinuity point would be the center of that range, which is 0.7 rotations. This results in an absolute sensor range of [-0.3, 0.7) rotations.

Given a total range of motion less than 1 rotation, users can calculate the discontinuity point using mean(lowerLimit, upperLimit) + 0.5. If that results in a value outside the range [0, 1], either cap the value to [0, 1], or add/subtract 1.0 rotation from your lower and upper limits of motion.

On a Talon motor controller, this is only supported when using the PulseWidth sensor source.

Minimum Value: 0.0
Maximum Value: 1.0
Default Value: 0.5
Units: rotations

Parameters:: new_absolute_sensor_discontinuity_point (rotation) – Parameter to modify
Returns:: Itself
Return type:: MagnetSensorConfigs

deserialize(to_deserialize: str) → phoenix6.status_code.StatusCode¶

Deserialize string and put values into this object

Parameters:: to_deserialize (str) – String to deserialize
Returns:: OK if deserialization is OK
Return type:: StatusCode

serialize() → str¶

Serialize this object into a string

Returns:: This object’s data serialized into a string
Return type:: str

class phoenix6.configs.MountPoseConfigs¶

Configs for Pigeon 2’s Mount Pose configuration.

These configs allow the Pigeon2 to be mounted in whatever orientation that’s desired and ensure the reported Yaw/Pitch/Roll is from the robot’s reference.

mount_pose_yaw: phoenix6.units.degree = 0¶

The mounting calibration yaw-component.

Minimum Value: -360
Maximum Value: 360
Default Value: 0
Units: deg

mount_pose_pitch: phoenix6.units.degree = 0¶

The mounting calibration pitch-component.

Minimum Value: -360
Maximum Value: 360
Default Value: 0
Units: deg

mount_pose_roll: phoenix6.units.degree = 0¶

The mounting calibration roll-component.

Minimum Value: -360
Maximum Value: 360
Default Value: 0
Units: deg

with_mount_pose_yaw(new_mount_pose_yaw: phoenix6.units.degree) → MountPoseConfigs¶

Modifies this configuration’s mount_pose_yaw parameter and returns itself for method-chaining and easier to use config API.

The mounting calibration yaw-component.

Minimum Value: -360
Maximum Value: 360
Default Value: 0
Units: deg

Parameters:: new_mount_pose_yaw (degree) – Parameter to modify
Returns:: Itself
Return type:: MountPoseConfigs

with_mount_pose_pitch(new_mount_pose_pitch: phoenix6.units.degree) → MountPoseConfigs¶

Modifies this configuration’s mount_pose_pitch parameter and returns itself for method-chaining and easier to use config API.

The mounting calibration pitch-component.

Minimum Value: -360
Maximum Value: 360
Default Value: 0
Units: deg

Parameters:: new_mount_pose_pitch (degree) – Parameter to modify
Returns:: Itself
Return type:: MountPoseConfigs

with_mount_pose_roll(new_mount_pose_roll: phoenix6.units.degree) → MountPoseConfigs¶

Modifies this configuration’s mount_pose_roll parameter and returns itself for method-chaining and easier to use config API.

The mounting calibration roll-component.

Minimum Value: -360
Maximum Value: 360
Default Value: 0
Units: deg

Parameters:: new_mount_pose_roll (degree) – Parameter to modify
Returns:: Itself
Return type:: MountPoseConfigs

deserialize(to_deserialize: str) → phoenix6.status_code.StatusCode¶

Deserialize string and put values into this object

Parameters:: to_deserialize (str) – String to deserialize
Returns:: OK if deserialization is OK
Return type:: StatusCode

serialize() → str¶

Serialize this object into a string

Returns:: This object’s data serialized into a string
Return type:: str

class phoenix6.configs.GyroTrimConfigs¶

Configs to trim the Pigeon2’s gyroscope.

Pigeon2 allows the user to trim the gyroscope’s sensitivity. While this isn’t necessary for the Pigeon2, as it comes calibrated out-of-the-box, users can make use of this to make the Pigeon2 even more accurate for their application.

gyro_scalar_x: float = 0¶

The gyro scalar component for the X axis.

Minimum Value: -180
Maximum Value: 180
Default Value: 0
Units: deg per rotation

gyro_scalar_y: float = 0¶

The gyro scalar component for the Y axis.

Minimum Value: -180
Maximum Value: 180
Default Value: 0
Units: deg per rotation

gyro_scalar_z: float = 0¶

The gyro scalar component for the Z axis.

Minimum Value: -180
Maximum Value: 180
Default Value: 0
Units: deg per rotation

with_gyro_scalar_x(new_gyro_scalar_x: float) → GyroTrimConfigs¶

Modifies this configuration’s gyro_scalar_x parameter and returns itself for method-chaining and easier to use config API.

The gyro scalar component for the X axis.

Minimum Value: -180
Maximum Value: 180
Default Value: 0
Units: deg per rotation

Parameters:: new_gyro_scalar_x (float) – Parameter to modify
Returns:: Itself
Return type:: GyroTrimConfigs

with_gyro_scalar_y(new_gyro_scalar_y: float) → GyroTrimConfigs¶

Modifies this configuration’s gyro_scalar_y parameter and returns itself for method-chaining and easier to use config API.

The gyro scalar component for the Y axis.

Minimum Value: -180
Maximum Value: 180
Default Value: 0
Units: deg per rotation

Parameters:: new_gyro_scalar_y (float) – Parameter to modify
Returns:: Itself
Return type:: GyroTrimConfigs

with_gyro_scalar_z(new_gyro_scalar_z: float) → GyroTrimConfigs¶

Modifies this configuration’s gyro_scalar_z parameter and returns itself for method-chaining and easier to use config API.

The gyro scalar component for the Z axis.

Minimum Value: -180
Maximum Value: 180
Default Value: 0
Units: deg per rotation

Parameters:: new_gyro_scalar_z (float) – Parameter to modify
Returns:: Itself
Return type:: GyroTrimConfigs

deserialize(to_deserialize: str) → phoenix6.status_code.StatusCode¶

Deserialize string and put values into this object

Parameters:: to_deserialize (str) – String to deserialize
Returns:: OK if deserialization is OK
Return type:: StatusCode

serialize() → str¶

Serialize this object into a string

Returns:: This object’s data serialized into a string
Return type:: str

class phoenix6.configs.Pigeon2FeaturesConfigs¶

Configs to enable/disable various features of the Pigeon2.

These configs allow the user to enable or disable various aspects of the Pigeon2.

enable_compass: bool = False¶

Turns on or off the magnetometer fusing for 9-axis. FRC users are not recommended to turn this on, as the magnetic influence of the robot will likely negatively affect the performance of the Pigeon2.

Default Value: False

disable_temperature_compensation: bool = False¶

Disables using the temperature compensation feature.

Default Value: False

disable_no_motion_calibration: bool = False¶

Disables using the no-motion calibration feature.

Default Value: False

with_enable_compass(new_enable_compass: bool) → Pigeon2FeaturesConfigs¶

Modifies this configuration’s enable_compass parameter and returns itself for method-chaining and easier to use config API.

Turns on or off the magnetometer fusing for 9-axis. FRC users are not recommended to turn this on, as the magnetic influence of the robot will likely negatively affect the performance of the Pigeon2.

Default Value: False

Parameters:: new_enable_compass (bool) – Parameter to modify
Returns:: Itself
Return type:: Pigeon2FeaturesConfigs

with_disable_temperature_compensation(new_disable_temperature_compensation: bool) → Pigeon2FeaturesConfigs¶

Modifies this configuration’s disable_temperature_compensation parameter and returns itself for method-chaining and easier to use config API.

Disables using the temperature compensation feature.

Default Value: False

Parameters:: new_disable_temperature_compensation (bool) – Parameter to modify
Returns:: Itself
Return type:: Pigeon2FeaturesConfigs

with_disable_no_motion_calibration(new_disable_no_motion_calibration: bool) → Pigeon2FeaturesConfigs¶

Modifies this configuration’s disable_no_motion_calibration parameter and returns itself for method-chaining and easier to use config API.

Disables using the no-motion calibration feature.

Default Value: False

Parameters:: new_disable_no_motion_calibration (bool) – Parameter to modify
Returns:: Itself
Return type:: Pigeon2FeaturesConfigs

deserialize(to_deserialize: str) → phoenix6.status_code.StatusCode¶

Deserialize string and put values into this object

Parameters:: to_deserialize (str) – String to deserialize
Returns:: OK if deserialization is OK
Return type:: StatusCode

serialize() → str¶

Serialize this object into a string

Returns:: This object’s data serialized into a string
Return type:: str

class phoenix6.configs.MotorOutputConfigs¶

Configs that directly affect motor output.

Includes motor invert, neutral mode, and other features related to motor output.

inverted: InvertedValue¶: Invert state of the device as seen from the front of the motor.

neutral_mode: NeutralModeValue¶: The state of the motor controller bridge when output is neutral or disabled.

duty_cycle_neutral_deadband: float = 0¶

Configures the output deadband duty cycle during duty cycle and voltage based control modes.

Minimum Value: 0.0
Maximum Value: 0.25
Default Value: 0
Units: fractional

peak_forward_duty_cycle: float = 1¶

Maximum (forward) output during duty cycle based control modes.

Minimum Value: -1.0
Maximum Value: 1.0
Default Value: 1
Units: fractional

peak_reverse_duty_cycle: float¶

Minimum (reverse) output during duty cycle based control modes.

Minimum Value: -1.0
Maximum Value: 1.0
Default Value: -1
Units: fractional

control_timesync_freq_hz: phoenix6.units.hertz = 0¶

When a control request UseTimesync is enabled, this determines the time-sychronized frequency at which control requests are applied.

The application of the control request will be delayed until the next timesync boundary at the frequency defined by this config. When set to 0 Hz, timesync will never be used for control requests, regardless of the value of UseTimesync.

Minimum Value: 50
Maximum Value: 500
Default Value: 0
Units: Hz

with_inverted(new_inverted: InvertedValue) → MotorOutputConfigs¶

Modifies this configuration’s inverted parameter and returns itself for method-chaining and easier to use config API.

Invert state of the device as seen from the front of the motor.

Parameters:: new_inverted (InvertedValue) – Parameter to modify
Returns:: Itself
Return type:: MotorOutputConfigs

with_neutral_mode(new_neutral_mode: NeutralModeValue) → MotorOutputConfigs¶

Modifies this configuration’s neutral_mode parameter and returns itself for method-chaining and easier to use config API.

The state of the motor controller bridge when output is neutral or disabled.

Parameters:: new_neutral_mode (NeutralModeValue) – Parameter to modify
Returns:: Itself
Return type:: MotorOutputConfigs

with_duty_cycle_neutral_deadband(new_duty_cycle_neutral_deadband: float) → MotorOutputConfigs¶

Modifies this configuration’s duty_cycle_neutral_deadband parameter and returns itself for method-chaining and easier to use config API.

Configures the output deadband duty cycle during duty cycle and voltage based control modes.

Minimum Value: 0.0
Maximum Value: 0.25
Default Value: 0
Units: fractional

Parameters:: new_duty_cycle_neutral_deadband (float) – Parameter to modify
Returns:: Itself
Return type:: MotorOutputConfigs

with_peak_forward_duty_cycle(new_peak_forward_duty_cycle: float) → MotorOutputConfigs¶

Modifies this configuration’s peak_forward_duty_cycle parameter and returns itself for method-chaining and easier to use config API.

Maximum (forward) output during duty cycle based control modes.

Minimum Value: -1.0
Maximum Value: 1.0
Default Value: 1
Units: fractional

Parameters:: new_peak_forward_duty_cycle (float) – Parameter to modify
Returns:: Itself
Return type:: MotorOutputConfigs

with_peak_reverse_duty_cycle(new_peak_reverse_duty_cycle: float) → MotorOutputConfigs¶

Modifies this configuration’s peak_reverse_duty_cycle parameter and returns itself for method-chaining and easier to use config API.

Minimum (reverse) output during duty cycle based control modes.

Minimum Value: -1.0
Maximum Value: 1.0
Default Value: -1
Units: fractional

Parameters:: new_peak_reverse_duty_cycle (float) – Parameter to modify
Returns:: Itself
Return type:: MotorOutputConfigs

with_control_timesync_freq_hz(new_control_timesync_freq_hz: phoenix6.units.hertz) → MotorOutputConfigs¶

Modifies this configuration’s control_timesync_freq_hz parameter and returns itself for method-chaining and easier to use config API.

When a control request UseTimesync is enabled, this determines the time-sychronized frequency at which control requests are applied.

The application of the control request will be delayed until the next timesync boundary at the frequency defined by this config. When set to 0 Hz, timesync will never be used for control requests, regardless of the value of UseTimesync.

Minimum Value: 50
Maximum Value: 500
Default Value: 0
Units: Hz

Parameters:: new_control_timesync_freq_hz (hertz) – Parameter to modify
Returns:: Itself
Return type:: MotorOutputConfigs

deserialize(to_deserialize: str) → phoenix6.status_code.StatusCode¶

Deserialize string and put values into this object

Parameters:: to_deserialize (str) – String to deserialize
Returns:: OK if deserialization is OK
Return type:: StatusCode

serialize() → str¶

Serialize this object into a string

Returns:: This object’s data serialized into a string
Return type:: str

class phoenix6.configs.CurrentLimitsConfigs¶

Configs that directly affect current limiting features.

Contains the supply/stator current limit thresholds and whether to enable them.

stator_current_limit: phoenix6.units.ampere = 120¶

The amount of current allowed in the motor (motoring and regen current). Note this requires StatorCurrentLimitEnable to be true.

For torque current control, this is applied in addition to the PeakForwardTorqueCurrent and PeakReverseTorqueCurrent in TorqueCurrentConfigs.

Stator current is directly proportional to torque, so this limit can be used to restrict the torque output of the motor, such as preventing wheel slip for a drivetrain. Additionally, stator current limits can prevent brownouts during acceleration; supply current will never exceed the stator current limit and is often significantly lower than stator current.

A reasonable starting point for a stator current limit is 120 A, with values commonly ranging from 80-160 A. Mechanisms with a hard stop may need a smaller limit to reduce the torque applied when running into the hard stop.

Minimum Value: 0.0
Maximum Value: 800.0
Default Value: 120
Units: A

stator_current_limit_enable: bool = True¶

Enable motor stator current limiting.

Default Value: True

supply_current_limit: phoenix6.units.ampere = 70¶

The absolute maximum amount of supply current allowed. Note this requires SupplyCurrentLimitEnable to be true. Use SupplyCurrentLowerLimit and SupplyCurrentLowerTime to reduce the supply current limit after the time threshold is exceeded.

Supply current is the current drawn from the battery, so this limit can be used to prevent breaker trips and improve battery longevity. Additionally, in scenarios where the robot experiences brownouts despite configuring stator current limits, a supply current limit can further help avoid brownouts. However, it is important to note that such brownouts may be caused by a bad battery or poor power wiring.

A reasonable starting point for a supply current limit is 70 A with a lower limit of 40 A after 1.0 second. Supply current limits commonly range from 20-80 A depending on the breaker used.

Minimum Value: 0.0
Maximum Value: 800.0
Default Value: 70
Units: A

supply_current_limit_enable: bool = True¶

Enable motor supply current limiting.

Default Value: True

supply_current_lower_limit: phoenix6.units.ampere = 40¶

The amount of supply current allowed after the regular SupplyCurrentLimit is active for longer than SupplyCurrentLowerTime. This allows higher current draws for a fixed period of time before reducing the current limit to protect breakers. This has no effect if SupplyCurrentLimit is lower than this value or SupplyCurrentLowerTime is 0.

Minimum Value: 0.0
Maximum Value: 500
Default Value: 40
Units: A

supply_current_lower_time: phoenix6.units.second = 1.0¶

Reduces supply current to the SupplyCurrentLowerLimit after limiting to SupplyCurrentLimit for this period of time. If this is set to 0, SupplyCurrentLowerLimit will be ignored.

Minimum Value: 0.0
Maximum Value: 2.5
Default Value: 1.0
Units: seconds

with_stator_current_limit(new_stator_current_limit: phoenix6.units.ampere) → CurrentLimitsConfigs¶

Modifies this configuration’s stator_current_limit parameter and returns itself for method-chaining and easier to use config API.

The amount of current allowed in the motor (motoring and regen current). Note this requires StatorCurrentLimitEnable to be true.

For torque current control, this is applied in addition to the PeakForwardTorqueCurrent and PeakReverseTorqueCurrent in TorqueCurrentConfigs.

Stator current is directly proportional to torque, so this limit can be used to restrict the torque output of the motor, such as preventing wheel slip for a drivetrain. Additionally, stator current limits can prevent brownouts during acceleration; supply current will never exceed the stator current limit and is often significantly lower than stator current.

A reasonable starting point for a stator current limit is 120 A, with values commonly ranging from 80-160 A. Mechanisms with a hard stop may need a smaller limit to reduce the torque applied when running into the hard stop.

Minimum Value: 0.0
Maximum Value: 800.0
Default Value: 120
Units: A

Parameters:: new_stator_current_limit (ampere) – Parameter to modify
Returns:: Itself
Return type:: CurrentLimitsConfigs

with_stator_current_limit_enable(new_stator_current_limit_enable: bool) → CurrentLimitsConfigs¶

Modifies this configuration’s stator_current_limit_enable parameter and returns itself for method-chaining and easier to use config API.

Enable motor stator current limiting.

Default Value: True

Parameters:: new_stator_current_limit_enable (bool) – Parameter to modify
Returns:: Itself
Return type:: CurrentLimitsConfigs

with_supply_current_limit(new_supply_current_limit: phoenix6.units.ampere) → CurrentLimitsConfigs¶

Modifies this configuration’s supply_current_limit parameter and returns itself for method-chaining and easier to use config API.

The absolute maximum amount of supply current allowed. Note this requires SupplyCurrentLimitEnable to be true. Use SupplyCurrentLowerLimit and SupplyCurrentLowerTime to reduce the supply current limit after the time threshold is exceeded.

Supply current is the current drawn from the battery, so this limit can be used to prevent breaker trips and improve battery longevity. Additionally, in scenarios where the robot experiences brownouts despite configuring stator current limits, a supply current limit can further help avoid brownouts. However, it is important to note that such brownouts may be caused by a bad battery or poor power wiring.

A reasonable starting point for a supply current limit is 70 A with a lower limit of 40 A after 1.0 second. Supply current limits commonly range from 20-80 A depending on the breaker used.

Minimum Value: 0.0
Maximum Value: 800.0
Default Value: 70
Units: A

Parameters:: new_supply_current_limit (ampere) – Parameter to modify
Returns:: Itself
Return type:: CurrentLimitsConfigs

with_supply_current_limit_enable(new_supply_current_limit_enable: bool) → CurrentLimitsConfigs¶

Modifies this configuration’s supply_current_limit_enable parameter and returns itself for method-chaining and easier to use config API.

Enable motor supply current limiting.

Default Value: True

Parameters:: new_supply_current_limit_enable (bool) – Parameter to modify
Returns:: Itself
Return type:: CurrentLimitsConfigs

with_supply_current_lower_limit(new_supply_current_lower_limit: phoenix6.units.ampere) → CurrentLimitsConfigs¶

Modifies this configuration’s supply_current_lower_limit parameter and returns itself for method-chaining and easier to use config API.

The amount of supply current allowed after the regular SupplyCurrentLimit is active for longer than SupplyCurrentLowerTime. This allows higher current draws for a fixed period of time before reducing the current limit to protect breakers. This has no effect if SupplyCurrentLimit is lower than this value or SupplyCurrentLowerTime is 0.

Minimum Value: 0.0
Maximum Value: 500
Default Value: 40
Units: A

Parameters:: new_supply_current_lower_limit (ampere) – Parameter to modify
Returns:: Itself
Return type:: CurrentLimitsConfigs

with_supply_current_lower_time(new_supply_current_lower_time: phoenix6.units.second) → CurrentLimitsConfigs¶

Modifies this configuration’s supply_current_lower_time parameter and returns itself for method-chaining and easier to use config API.

Reduces supply current to the SupplyCurrentLowerLimit after limiting to SupplyCurrentLimit for this period of time. If this is set to 0, SupplyCurrentLowerLimit will be ignored.

Minimum Value: 0.0
Maximum Value: 2.5
Default Value: 1.0
Units: seconds

Parameters:: new_supply_current_lower_time (second) – Parameter to modify
Returns:: Itself
Return type:: CurrentLimitsConfigs

deserialize(to_deserialize: str) → phoenix6.status_code.StatusCode¶

Deserialize string and put values into this object

Parameters:: to_deserialize (str) – String to deserialize
Returns:: OK if deserialization is OK
Return type:: StatusCode

serialize() → str¶

Serialize this object into a string

Returns:: This object’s data serialized into a string
Return type:: str

class phoenix6.configs.VoltageConfigs¶

Configs that affect Voltage control types.

Includes peak output voltages and other configs affecting voltage measurements.

supply_voltage_time_constant: phoenix6.units.second = 0¶

The time constant (in seconds) of the low-pass filter for the supply voltage.

This impacts the filtering for the reported supply voltage, and any control strategies that use the supply voltage (such as voltage control on a motor controller).

Minimum Value: 0.0
Maximum Value: 0.1
Default Value: 0
Units: seconds

peak_forward_voltage: phoenix6.units.volt = 16¶

Maximum (forward) output during voltage based control modes.

Minimum Value: -16
Maximum Value: 16
Default Value: 16
Units: V

peak_reverse_voltage: phoenix6.units.volt¶

Minimum (reverse) output during voltage based control modes.

Minimum Value: -16
Maximum Value: 16
Default Value: -16
Units: V

with_supply_voltage_time_constant(new_supply_voltage_time_constant: phoenix6.units.second) → VoltageConfigs¶

Modifies this configuration’s supply_voltage_time_constant parameter and returns itself for method-chaining and easier to use config API.

The time constant (in seconds) of the low-pass filter for the supply voltage.

This impacts the filtering for the reported supply voltage, and any control strategies that use the supply voltage (such as voltage control on a motor controller).

Minimum Value: 0.0
Maximum Value: 0.1
Default Value: 0
Units: seconds

Parameters:: new_supply_voltage_time_constant (second) – Parameter to modify
Returns:: Itself
Return type:: VoltageConfigs

with_peak_forward_voltage(new_peak_forward_voltage: phoenix6.units.volt) → VoltageConfigs¶

Modifies this configuration’s peak_forward_voltage parameter and returns itself for method-chaining and easier to use config API.

Maximum (forward) output during voltage based control modes.

Minimum Value: -16
Maximum Value: 16
Default Value: 16
Units: V

Parameters:: new_peak_forward_voltage (volt) – Parameter to modify
Returns:: Itself
Return type:: VoltageConfigs

with_peak_reverse_voltage(new_peak_reverse_voltage: phoenix6.units.volt) → VoltageConfigs¶

Modifies this configuration’s peak_reverse_voltage parameter and returns itself for method-chaining and easier to use config API.

Minimum (reverse) output during voltage based control modes.

Minimum Value: -16
Maximum Value: 16
Default Value: -16
Units: V

Parameters:: new_peak_reverse_voltage (volt) – Parameter to modify
Returns:: Itself
Return type:: VoltageConfigs

deserialize(to_deserialize: str) → phoenix6.status_code.StatusCode¶

Deserialize string and put values into this object

Parameters:: to_deserialize (str) – String to deserialize
Returns:: OK if deserialization is OK
Return type:: StatusCode

serialize() → str¶

Serialize this object into a string

Returns:: This object’s data serialized into a string
Return type:: str

class phoenix6.configs.TorqueCurrentConfigs¶

Configs that affect Torque Current control types.

Includes the maximum and minimum applied torque output and the neutral deadband used during TorqueCurrentFOC requests.

peak_forward_torque_current: phoenix6.units.ampere = 800¶

Maximum (forward) output during torque current based control modes.

Minimum Value: -800
Maximum Value: 800
Default Value: 800
Units: A

peak_reverse_torque_current: phoenix6.units.ampere¶

Minimum (reverse) output during torque current based control modes.

Minimum Value: -800
Maximum Value: 800
Default Value: -800
Units: A

torque_neutral_deadband: phoenix6.units.ampere = 0.0¶

Configures the output deadband during torque current based control modes.

Minimum Value: 0
Maximum Value: 25
Default Value: 0.0
Units: A

with_peak_forward_torque_current(new_peak_forward_torque_current: phoenix6.units.ampere) → TorqueCurrentConfigs¶

Modifies this configuration’s peak_forward_torque_current parameter and returns itself for method-chaining and easier to use config API.

Maximum (forward) output during torque current based control modes.

Minimum Value: -800
Maximum Value: 800
Default Value: 800
Units: A

Parameters:: new_peak_forward_torque_current (ampere) – Parameter to modify
Returns:: Itself
Return type:: TorqueCurrentConfigs

with_peak_reverse_torque_current(new_peak_reverse_torque_current: phoenix6.units.ampere) → TorqueCurrentConfigs¶

Modifies this configuration’s peak_reverse_torque_current parameter and returns itself for method-chaining and easier to use config API.

Minimum (reverse) output during torque current based control modes.

Minimum Value: -800
Maximum Value: 800
Default Value: -800
Units: A

Parameters:: new_peak_reverse_torque_current (ampere) – Parameter to modify
Returns:: Itself
Return type:: TorqueCurrentConfigs

with_torque_neutral_deadband(new_torque_neutral_deadband: phoenix6.units.ampere) → TorqueCurrentConfigs¶

Modifies this configuration’s torque_neutral_deadband parameter and returns itself for method-chaining and easier to use config API.

Configures the output deadband during torque current based control modes.

Minimum Value: 0
Maximum Value: 25
Default Value: 0.0
Units: A

Parameters:: new_torque_neutral_deadband (ampere) – Parameter to modify
Returns:: Itself
Return type:: TorqueCurrentConfigs

deserialize(to_deserialize: str) → phoenix6.status_code.StatusCode¶

Deserialize string and put values into this object

Parameters:: to_deserialize (str) – String to deserialize
Returns:: OK if deserialization is OK
Return type:: StatusCode

serialize() → str¶

Serialize this object into a string

Returns:: This object’s data serialized into a string
Return type:: str

class phoenix6.configs.FeedbackConfigs¶

Configs that affect the feedback of this motor controller.

Includes feedback sensor source, any offsets for the feedback sensor, and various ratios to describe the relationship between the sensor and the mechanism for closed looping.

feedback_rotor_offset: phoenix6.units.rotation = 0.0¶

The offset applied to the absolute integrated rotor sensor. This can be used to zero the rotor in applications that are within one rotor rotation.

Minimum Value: -1
Maximum Value: 1
Default Value: 0.0
Units: rotations

sensor_to_mechanism_ratio: float = 1.0¶

The ratio of sensor rotations to the mechanism’s output, where a ratio greater than 1 is a reduction.

This is equivalent to the mechanism’s gear ratio if the sensor is located on the input of a gearbox. If sensor is on the output of a gearbox, then this is typically set to 1.

We recommend against using this config to perform onboard unit conversions. Instead, unit conversions should be performed in robot code using the units library.

If this is set to zero, the device will reset back to one.

Minimum Value: -1000
Maximum Value: 1000
Default Value: 1.0
Units: scalar

rotor_to_sensor_ratio: float = 1.0¶

The ratio of motor rotor rotations to remote sensor rotations, where a ratio greater than 1 is a reduction.

The Talon FX is capable of fusing a remote CANcoder with its rotor sensor to produce a high-bandwidth sensor source. This feature requires specifying the ratio between the motor rotor and the remote sensor.

If this is set to zero, the device will reset back to one.

Minimum Value: -1000
Maximum Value: 1000
Default Value: 1.0
Units: scalar

feedback_sensor_source: FeedbackSensorSourceValue¶

Choose what sensor source is reported via API and used by closed-loop and limit features. The default is RotorSensor, which uses the internal rotor sensor in the Talon.

Choose Remote* to use another sensor on the same CAN bus (this also requires setting FeedbackRemoteSensorID). Talon will update its position and velocity whenever the remote sensor publishes its information on CAN bus, and the Talon internal rotor will not be used.

Choose Fused* (requires Phoenix Pro) and Talon will fuse another sensor’s information with the internal rotor, which provides the best possible position and velocity for accuracy and bandwidth (this also requires setting FeedbackRemoteSensorID). This was developed for applications such as swerve-azimuth.

Choose Sync* (requires Phoenix Pro) and Talon will synchronize its internal rotor position against another sensor, then continue to use the rotor sensor for closed loop control (this also requires setting FeedbackRemoteSensorID). The Talon will report if its internal position differs significantly from the reported remote sensor position. This was developed for mechanisms where there is a risk of the sensor failing in such a way that it reports a position that does not match the mechanism, such as the sensor mounting assembly breaking off.

Choose RemotePigeon2_Yaw, RemotePigeon2_Pitch, and RemotePigeon2_Roll to use another Pigeon2 on the same CAN bus (this also requires setting FeedbackRemoteSensorID). Talon will update its position to match the selected value whenever Pigeon2 publishes its information on CAN bus. Note that the Talon position will be in rotations and not degrees.

Note: When the feedback source is changed to Fused* or Sync*, the Talon needs a period of time to fuse before sensor-based (soft-limit, closed loop, etc.) features are used. This period of time is determined by the update frequency of the remote sensor’s Position signal.

feedback_remote_sensor_id: int = 0¶

Device ID of which remote device to use. This is not used if the Sensor Source is the internal rotor sensor.

Minimum Value: 0
Maximum Value: 62
Default Value: 0
Units:

velocity_filter_time_constant: phoenix6.units.second = 0¶

The configurable time constant of the Kalman velocity filter. The velocity Kalman filter will adjust to act as a low-pass with this value as its time constant.

If the user is aiming for an expected cutoff frequency, the frequency is calculated as 1 / (2 * π * τ) with τ being the time constant.

Minimum Value: 0
Maximum Value: 1
Default Value: 0
Units: seconds

with_feedback_rotor_offset(new_feedback_rotor_offset: phoenix6.units.rotation) → FeedbackConfigs¶

Modifies this configuration’s feedback_rotor_offset parameter and returns itself for method-chaining and easier to use config API.

The offset applied to the absolute integrated rotor sensor. This can be used to zero the rotor in applications that are within one rotor rotation.

Minimum Value: -1
Maximum Value: 1
Default Value: 0.0
Units: rotations

Parameters:: new_feedback_rotor_offset (rotation) – Parameter to modify
Returns:: Itself
Return type:: FeedbackConfigs

with_sensor_to_mechanism_ratio(new_sensor_to_mechanism_ratio: float) → FeedbackConfigs¶

Modifies this configuration’s sensor_to_mechanism_ratio parameter and returns itself for method-chaining and easier to use config API.

The ratio of sensor rotations to the mechanism’s output, where a ratio greater than 1 is a reduction.

This is equivalent to the mechanism’s gear ratio if the sensor is located on the input of a gearbox. If sensor is on the output of a gearbox, then this is typically set to 1.

We recommend against using this config to perform onboard unit conversions. Instead, unit conversions should be performed in robot code using the units library.

If this is set to zero, the device will reset back to one.

Minimum Value: -1000
Maximum Value: 1000
Default Value: 1.0
Units: scalar

Parameters:: new_sensor_to_mechanism_ratio (float) – Parameter to modify
Returns:: Itself
Return type:: FeedbackConfigs

with_rotor_to_sensor_ratio(new_rotor_to_sensor_ratio: float) → FeedbackConfigs¶

Modifies this configuration’s rotor_to_sensor_ratio parameter and returns itself for method-chaining and easier to use config API.

The ratio of motor rotor rotations to remote sensor rotations, where a ratio greater than 1 is a reduction.

The Talon FX is capable of fusing a remote CANcoder with its rotor sensor to produce a high-bandwidth sensor source. This feature requires specifying the ratio between the motor rotor and the remote sensor.

If this is set to zero, the device will reset back to one.

Minimum Value: -1000
Maximum Value: 1000
Default Value: 1.0
Units: scalar

Parameters:: new_rotor_to_sensor_ratio (float) – Parameter to modify
Returns:: Itself
Return type:: FeedbackConfigs

with_feedback_sensor_source(new_feedback_sensor_source: FeedbackSensorSourceValue) → FeedbackConfigs¶

Modifies this configuration’s feedback_sensor_source parameter and returns itself for method-chaining and easier to use config API.

Choose what sensor source is reported via API and used by closed-loop and limit features. The default is RotorSensor, which uses the internal rotor sensor in the Talon.

Choose Remote* to use another sensor on the same CAN bus (this also requires setting FeedbackRemoteSensorID). Talon will update its position and velocity whenever the remote sensor publishes its information on CAN bus, and the Talon internal rotor will not be used.

Choose Fused* (requires Phoenix Pro) and Talon will fuse another sensor’s information with the internal rotor, which provides the best possible position and velocity for accuracy and bandwidth (this also requires setting FeedbackRemoteSensorID). This was developed for applications such as swerve-azimuth.

Choose Sync* (requires Phoenix Pro) and Talon will synchronize its internal rotor position against another sensor, then continue to use the rotor sensor for closed loop control (this also requires setting FeedbackRemoteSensorID). The Talon will report if its internal position differs significantly from the reported remote sensor position. This was developed for mechanisms where there is a risk of the sensor failing in such a way that it reports a position that does not match the mechanism, such as the sensor mounting assembly breaking off.

Choose RemotePigeon2_Yaw, RemotePigeon2_Pitch, and RemotePigeon2_Roll to use another Pigeon2 on the same CAN bus (this also requires setting FeedbackRemoteSensorID). Talon will update its position to match the selected value whenever Pigeon2 publishes its information on CAN bus. Note that the Talon position will be in rotations and not degrees.

Note: When the feedback source is changed to Fused* or Sync*, the Talon needs a period of time to fuse before sensor-based (soft-limit, closed loop, etc.) features are used. This period of time is determined by the update frequency of the remote sensor’s Position signal.

Parameters:: new_feedback_sensor_source (FeedbackSensorSourceValue) – Parameter to modify
Returns:: Itself
Return type:: FeedbackConfigs

with_feedback_remote_sensor_id(new_feedback_remote_sensor_id: int) → FeedbackConfigs¶

Modifies this configuration’s feedback_remote_sensor_id parameter and returns itself for method-chaining and easier to use config API.

Device ID of which remote device to use. This is not used if the Sensor Source is the internal rotor sensor.

Minimum Value: 0
Maximum Value: 62
Default Value: 0
Units:

Parameters:: new_feedback_remote_sensor_id (int) – Parameter to modify
Returns:: Itself
Return type:: FeedbackConfigs

with_velocity_filter_time_constant(new_velocity_filter_time_constant: phoenix6.units.second) → FeedbackConfigs¶

Modifies this configuration’s velocity_filter_time_constant parameter and returns itself for method-chaining and easier to use config API.

The configurable time constant of the Kalman velocity filter. The velocity Kalman filter will adjust to act as a low-pass with this value as its time constant.

If the user is aiming for an expected cutoff frequency, the frequency is calculated as 1 / (2 * π * τ) with τ being the time constant.

Minimum Value: 0
Maximum Value: 1
Default Value: 0
Units: seconds

Parameters:: new_velocity_filter_time_constant (second) – Parameter to modify
Returns:: Itself
Return type:: FeedbackConfigs

deserialize(to_deserialize: str) → phoenix6.status_code.StatusCode¶

Deserialize string and put values into this object

Parameters:: to_deserialize (str) – String to deserialize
Returns:: OK if deserialization is OK
Return type:: StatusCode

serialize() → str¶

Serialize this object into a string

Returns:: This object’s data serialized into a string
Return type:: str

class phoenix6.configs.ExternalFeedbackConfigs¶

Configs that affect the external feedback sensor of this motor controller.

Includes feedback sensor source, offsets and sensor phase for the feedback sensor, and various ratios to describe the relationship between the sensor and the mechanism for closed looping.

sensor_to_mechanism_ratio: float = 1.0¶

The ratio of sensor rotations to the mechanism’s output, where a ratio greater than 1 is a reduction.

This is equivalent to the mechanism’s gear ratio if the sensor is located on the input of a gearbox. If sensor is on the output of a gearbox, then this is typically set to 1.

We recommend against using this config to perform onboard unit conversions. Instead, unit conversions should be performed in robot code using the units library.

If this is set to zero, the device will reset back to one.

Minimum Value: -1000
Maximum Value: 1000
Default Value: 1.0
Units: scalar

rotor_to_sensor_ratio: float = 1.0¶

The ratio of motor rotor rotations to remote sensor rotations, where a ratio greater than 1 is a reduction.

The Talon FX is capable of fusing a remote CANcoder with its rotor sensor to produce a high-bandwidth sensor source. This feature requires specifying the ratio between the motor rotor and the remote sensor.

If this is set to zero, the device will reset back to one.

Minimum Value: -1000
Maximum Value: 1000
Default Value: 1.0
Units: scalar

feedback_remote_sensor_id: int = 0¶

Device ID of which remote device to use. This is not used if the Sensor Source is the internal rotor sensor.

Minimum Value: 0
Maximum Value: 62
Default Value: 0
Units:

velocity_filter_time_constant: phoenix6.units.second = 0¶

The configurable time constant of the Kalman velocity filter. The velocity Kalman filter will adjust to act as a low-pass with this value as its time constant.

If the user is aiming for an expected cutoff frequency, the frequency is calculated as 1 / (2 * π * τ) with τ being the time constant.

Minimum Value: 0
Maximum Value: 1
Default Value: 0
Units: seconds

absolute_sensor_offset: phoenix6.units.rotation = 0.0¶

The offset applied to any absolute sensor connected to the Talon data port. This is only supported when using the PulseWidth sensor source.

This can be used to zero the sensor position in applications where the sensor is 1:1 with the mechanism.

Minimum Value: -1
Maximum Value: 1
Default Value: 0.0
Units: rotations

external_feedback_sensor_source: ExternalFeedbackSensorSourceValue¶

Choose what sensor source is reported via API and used by closed-loop and limit features. The default is Commutation, which uses the external sensor used for motor commutation.

Choose Remote* to use another sensor on the same CAN bus (this also requires setting FeedbackRemoteSensorID). Talon will update its position and velocity whenever the remote sensor publishes its information on CAN bus, and the Talon commutation sensor will not be used.

Choose Fused* (requires Phoenix Pro) and Talon will fuse another sensor’s information with the commutation sensor, which provides the best possible position and velocity for accuracy and bandwidth (this also requires setting FeedbackRemoteSensorID). This was developed for applications such as swerve-azimuth.

Choose Sync* (requires Phoenix Pro) and Talon will synchronize its commutation sensor position against another sensor, then continue to use the rotor sensor for closed loop control (this also requires setting FeedbackRemoteSensorID). The Talon will report if its internal position differs significantly from the reported remote sensor position. This was developed for mechanisms where there is a risk of the sensor failing in such a way that it reports a position that does not match the mechanism, such as the sensor mounting assembly breaking off.

Choose RemotePigeon2_Yaw, RemotePigeon2_Pitch, and RemotePigeon2_Roll to use another Pigeon2 on the same CAN bus (this also requires setting FeedbackRemoteSensorID). Talon will update its position to match the selected value whenever Pigeon2 publishes its information on CAN bus. Note that the Talon position will be in rotations and not degrees.

Choose Quadrature to use a quadrature encoder directly attached to the Talon data port. This provides velocity and relative position measurements.

Choose PulseWidth to use a pulse-width encoder directly attached to the Talon data port. This provides velocity and absolute position measurements.

Note: When the feedback source is changed to Fused* or Sync*, the Talon needs a period of time to fuse before sensor-based (soft-limit, closed loop, etc.) features are used. This period of time is determined by the update frequency of the remote sensor’s Position signal.

sensor_phase: SensorPhaseValue¶

The relationship between the motor controlled by a Talon and the external sensor connected to the data port. This does not affect the commutation sensor or remote sensors.

To determine the sensor phase, set this config to Aligned and drive the motor with positive output. If the reported sensor velocity is positive, then the phase is Aligned. If the reported sensor velocity is negative, then the phase is Opposed.

The sensor direction is automatically inverted along with motor invert, so the sensor phase does not need to be changed when motor invert changes.

quadrature_edges_per_rotation: int = 4096¶

The number of quadrature edges in one rotation for the quadrature sensor connected to the Talon data port.

This is the total number of transitions from high-to-low or low-to-high across both channels per rotation of the sensor. This is also equivalent to the Counts Per Revolution when using 4x decoding.

For example, the SRX Mag Encoder has 4096 edges per rotation, and a US Digital 1024 CPR (Cycles Per Revolution) quadrature encoder has 4096 edges per rotation.

On the Talon FXS, this can be at most 2,000,000,000 / Peak RPM.

Minimum Value: 1
Maximum Value: 1000000
Default Value: 4096
Units:

absolute_sensor_discontinuity_point: phoenix6.units.rotation = 0.5¶

The positive discontinuity point of the absolute sensor in rotations. This determines the point at which the absolute sensor wraps around, keeping the absolute position (after offset) in the range [x-1, x).

Setting this to 1 makes the absolute position unsigned [0, 1)
Setting this to 0.5 makes the absolute position signed [-0.5, 0.5)
Setting this to 0 makes the absolute position always negative [-1,

Many rotational mechanisms such as arms have a region of motion that is unreachable. This should be set to the center of that region of motion, in non-negative rotations. This affects the position of the device at bootup.

For example, consider an arm which can travel from -0.2 to 0.6 rotations with a little leeway, where 0 is horizontally forward. Since -0.2 rotations has the same absolute position as 0.8 rotations, we can say that the arm typically does not travel in the range (0.6, 0.8) rotations. As a result, the discontinuity point would be the center of that range, which is 0.7 rotations. This results in an absolute sensor range of [-0.3, 0.7) rotations.

Given a total range of motion less than 1 rotation, users can calculate the discontinuity point using mean(lowerLimit, upperLimit) + 0.5. If that results in a value outside the range [0, 1], either cap the value to [0, 1], or add/subtract 1.0 rotation from your lower and upper limits of motion.

On a Talon motor controller, this is only supported when using the PulseWidth sensor source.

Minimum Value: 0.0
Maximum Value: 1.0
Default Value: 0.5
Units: rotations

with_sensor_to_mechanism_ratio(new_sensor_to_mechanism_ratio: float) → ExternalFeedbackConfigs¶

Modifies this configuration’s sensor_to_mechanism_ratio parameter and returns itself for method-chaining and easier to use config API.

The ratio of sensor rotations to the mechanism’s output, where a ratio greater than 1 is a reduction.

This is equivalent to the mechanism’s gear ratio if the sensor is located on the input of a gearbox. If sensor is on the output of a gearbox, then this is typically set to 1.

We recommend against using this config to perform onboard unit conversions. Instead, unit conversions should be performed in robot code using the units library.

If this is set to zero, the device will reset back to one.

Minimum Value: -1000
Maximum Value: 1000
Default Value: 1.0
Units: scalar

Parameters:: new_sensor_to_mechanism_ratio (float) – Parameter to modify
Returns:: Itself
Return type:: ExternalFeedbackConfigs

with_rotor_to_sensor_ratio(new_rotor_to_sensor_ratio: float) → ExternalFeedbackConfigs¶

Modifies this configuration’s rotor_to_sensor_ratio parameter and returns itself for method-chaining and easier to use config API.

The ratio of motor rotor rotations to remote sensor rotations, where a ratio greater than 1 is a reduction.

The Talon FX is capable of fusing a remote CANcoder with its rotor sensor to produce a high-bandwidth sensor source. This feature requires specifying the ratio between the motor rotor and the remote sensor.

If this is set to zero, the device will reset back to one.

Minimum Value: -1000
Maximum Value: 1000
Default Value: 1.0
Units: scalar

Parameters:: new_rotor_to_sensor_ratio (float) – Parameter to modify
Returns:: Itself
Return type:: ExternalFeedbackConfigs

with_feedback_remote_sensor_id(new_feedback_remote_sensor_id: int) → ExternalFeedbackConfigs¶

Modifies this configuration’s feedback_remote_sensor_id parameter and returns itself for method-chaining and easier to use config API.

Device ID of which remote device to use. This is not used if the Sensor Source is the internal rotor sensor.

Minimum Value: 0
Maximum Value: 62
Default Value: 0
Units:

Parameters:: new_feedback_remote_sensor_id (int) – Parameter to modify
Returns:: Itself
Return type:: ExternalFeedbackConfigs

with_velocity_filter_time_constant(new_velocity_filter_time_constant: phoenix6.units.second) → ExternalFeedbackConfigs¶

Modifies this configuration’s velocity_filter_time_constant parameter and returns itself for method-chaining and easier to use config API.

The configurable time constant of the Kalman velocity filter. The velocity Kalman filter will adjust to act as a low-pass with this value as its time constant.

If the user is aiming for an expected cutoff frequency, the frequency is calculated as 1 / (2 * π * τ) with τ being the time constant.

Minimum Value: 0
Maximum Value: 1
Default Value: 0
Units: seconds

Parameters:: new_velocity_filter_time_constant (second) – Parameter to modify
Returns:: Itself
Return type:: ExternalFeedbackConfigs

with_absolute_sensor_offset(new_absolute_sensor_offset: phoenix6.units.rotation) → ExternalFeedbackConfigs¶

Modifies this configuration’s absolute_sensor_offset parameter and returns itself for method-chaining and easier to use config API.

The offset applied to any absolute sensor connected to the Talon data port. This is only supported when using the PulseWidth sensor source.

This can be used to zero the sensor position in applications where the sensor is 1:1 with the mechanism.

Minimum Value: -1
Maximum Value: 1
Default Value: 0.0
Units: rotations

Parameters:: new_absolute_sensor_offset (rotation) – Parameter to modify
Returns:: Itself
Return type:: ExternalFeedbackConfigs

with_external_feedback_sensor_source(new_external_feedback_sensor_source: ExternalFeedbackSensorSourceValue) → ExternalFeedbackConfigs¶

Modifies this configuration’s external_feedback_sensor_source parameter and returns itself for method-chaining and easier to use config API.