`phoenix6.configs.talon_fx_configs`#

Module Contents#

class phoenix6.configs.talon_fx_configs.TalonFXConfiguration#

Class description for the Talon FX integrated motor controller.

This handles the configurations for TalonFX

future_proof_configs: bool = True#

True if we should factory default newer unsupported configs, false to leave newer unsupported configs alone.

This flag addresses a corner case where the device may have firmware with newer configs that didn’t exist when this version of the API was built. If this occurs and this flag is true, unsupported new configs will be factory defaulted to avoid unexpected behavior.

This is also the behavior in Phoenix 5, so this flag is defaulted to true to match.

motor_output: phoenix6.configs.config_groups.MotorOutputConfigs#

Configs that directly affect motor output.

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

current_limits: phoenix6.configs.config_groups.CurrentLimitsConfigs#

Configs that directly affect current limiting features.

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

voltage: phoenix6.configs.config_groups.VoltageConfigs#

Configs that affect Voltage control types.

Includes peak output voltages and other configs affecting voltage measurements.

torque_current: phoenix6.configs.config_groups.TorqueCurrentConfigs#

Configs that affect Torque Current control types.

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

feedback: phoenix6.configs.config_groups.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.

differential_sensors: phoenix6.configs.config_groups.DifferentialSensorsConfigs#

Configs related to sensors used for differential control of a mechanism.

Includes the differential sensor sources and IDs.

differential_constants: phoenix6.configs.config_groups.DifferentialConstantsConfigs#

Configs related to constants used for differential control of a mechanism.

Includes the differential peak outputs.

open_loop_ramps: phoenix6.configs.config_groups.OpenLoopRampsConfigs#

Configs that affect the open-loop control of this motor controller.

Open-loop ramp rates for the various control types.

closed_loop_ramps: phoenix6.configs.config_groups.ClosedLoopRampsConfigs#

Configs that affect the closed-loop control of this motor controller.

Closed-loop ramp rates for the various control types.

hardware_limit_switch: phoenix6.configs.config_groups.HardwareLimitSwitchConfigs#

Configs that change how the motor controller behaves under different limit switch states.

Includes configs such as enabling limit switches, configuring the remote sensor ID, the source, and the position to set on limit.

audio: phoenix6.configs.config_groups.AudioConfigs#

Configs that affect audible components of the device.

Includes configuration for the beep on boot.

software_limit_switch: phoenix6.configs.config_groups.SoftwareLimitSwitchConfigs#

Configs that affect how software-limit switches behave.

Includes enabling software-limit switches and the threshold at which they are tripped.

motion_magic: phoenix6.configs.config_groups.MotionMagicConfigs#

Configs for Motion Magic®.

Includes Velocity, Acceleration, Jerk, and Expo parameters.

custom_params: phoenix6.configs.config_groups.CustomParamsConfigs#

Custom Params.

Custom paramaters that have no real impact on controller.

closed_loop_general: phoenix6.configs.config_groups.ClosedLoopGeneralConfigs#

Configs that affect general behavior during closed-looping.

Includes Continuous Wrap features.

slot0: phoenix6.configs.config_groups.Slot0Configs#

Gains for the specified slot.

If this slot is selected, these gains are used in closed loop control requests.

slot1: phoenix6.configs.config_groups.Slot1Configs#

Gains for the specified slot.

If this slot is selected, these gains are used in closed loop control requests.

slot2: phoenix6.configs.config_groups.Slot2Configs#

Gains for the specified slot.

If this slot is selected, these gains are used in closed loop control requests.

with_motor_output(new_motor_output: phoenix6.configs.config_groups.MotorOutputConfigs) → TalonFXConfiguration#

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

Configs that directly affect motor output.

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

Parameters:: new_motor_output (MotorOutputConfigs) – Parameter to modify
Returns:: Itself
Return type:: TalonFXConfiguration

with_current_limits(new_current_limits: phoenix6.configs.config_groups.CurrentLimitsConfigs) → TalonFXConfiguration#

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

Configs that directly affect current limiting features.

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

Parameters:: new_current_limits (CurrentLimitsConfigs) – Parameter to modify
Returns:: Itself
Return type:: TalonFXConfiguration

with_voltage(new_voltage: phoenix6.configs.config_groups.VoltageConfigs) → TalonFXConfiguration#

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

Configs that affect Voltage control types.

Includes peak output voltages and other configs affecting voltage measurements.

Parameters:: new_voltage (VoltageConfigs) – Parameter to modify
Returns:: Itself
Return type:: TalonFXConfiguration

with_torque_current(new_torque_current: phoenix6.configs.config_groups.TorqueCurrentConfigs) → TalonFXConfiguration#

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

Configs that affect Torque Current control types.

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

Parameters:: new_torque_current (TorqueCurrentConfigs) – Parameter to modify
Returns:: Itself
Return type:: TalonFXConfiguration

with_feedback(new_feedback: phoenix6.configs.config_groups.FeedbackConfigs) → TalonFXConfiguration#

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

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.

Parameters:: new_feedback (FeedbackConfigs) – Parameter to modify
Returns:: Itself
Return type:: TalonFXConfiguration

with_differential_sensors(new_differential_sensors: phoenix6.configs.config_groups.DifferentialSensorsConfigs) → TalonFXConfiguration#

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

Configs related to sensors used for differential control of a mechanism.

Includes the differential sensor sources and IDs.

Parameters:: new_differential_sensors (DifferentialSensorsConfigs) – Parameter to modify
Returns:: Itself
Return type:: TalonFXConfiguration

with_differential_constants(new_differential_constants: phoenix6.configs.config_groups.DifferentialConstantsConfigs) → TalonFXConfiguration#

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

Configs related to constants used for differential control of a mechanism.

Includes the differential peak outputs.

Parameters:: new_differential_constants (DifferentialConstantsConfigs) – Parameter to modify
Returns:: Itself
Return type:: TalonFXConfiguration

with_open_loop_ramps(new_open_loop_ramps: phoenix6.configs.config_groups.OpenLoopRampsConfigs) → TalonFXConfiguration#

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

Configs that affect the open-loop control of this motor controller.

Open-loop ramp rates for the various control types.

Parameters:: new_open_loop_ramps (OpenLoopRampsConfigs) – Parameter to modify
Returns:: Itself
Return type:: TalonFXConfiguration

with_closed_loop_ramps(new_closed_loop_ramps: phoenix6.configs.config_groups.ClosedLoopRampsConfigs) → TalonFXConfiguration#

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

Configs that affect the closed-loop control of this motor controller.

Closed-loop ramp rates for the various control types.

Parameters:: new_closed_loop_ramps (ClosedLoopRampsConfigs) – Parameter to modify
Returns:: Itself
Return type:: TalonFXConfiguration

with_hardware_limit_switch(new_hardware_limit_switch: phoenix6.configs.config_groups.HardwareLimitSwitchConfigs) → TalonFXConfiguration#

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

Configs that change how the motor controller behaves under different limit switch states.

Includes configs such as enabling limit switches, configuring the remote sensor ID, the source, and the position to set on limit.

Parameters:: new_hardware_limit_switch (HardwareLimitSwitchConfigs) – Parameter to modify
Returns:: Itself
Return type:: TalonFXConfiguration

with_audio(new_audio: phoenix6.configs.config_groups.AudioConfigs) → TalonFXConfiguration#

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

Configs that affect audible components of the device.

Includes configuration for the beep on boot.

Parameters:: new_audio (AudioConfigs) – Parameter to modify
Returns:: Itself
Return type:: TalonFXConfiguration

with_software_limit_switch(new_software_limit_switch: phoenix6.configs.config_groups.SoftwareLimitSwitchConfigs) → TalonFXConfiguration#

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

Configs that affect how software-limit switches behave.

Includes enabling software-limit switches and the threshold at which they are tripped.

Parameters:: new_software_limit_switch (SoftwareLimitSwitchConfigs) – Parameter to modify
Returns:: Itself
Return type:: TalonFXConfiguration

with_motion_magic(new_motion_magic: phoenix6.configs.config_groups.MotionMagicConfigs) → TalonFXConfiguration#

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

Configs for Motion Magic®.

Includes Velocity, Acceleration, Jerk, and Expo parameters.

Parameters:: new_motion_magic (MotionMagicConfigs) – Parameter to modify
Returns:: Itself
Return type:: TalonFXConfiguration

with_custom_params(new_custom_params: phoenix6.configs.config_groups.CustomParamsConfigs) → TalonFXConfiguration#

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

Custom Params.

Custom paramaters that have no real impact on controller.

Parameters:: new_custom_params (CustomParamsConfigs) – Parameter to modify
Returns:: Itself
Return type:: TalonFXConfiguration

with_closed_loop_general(new_closed_loop_general: phoenix6.configs.config_groups.ClosedLoopGeneralConfigs) → TalonFXConfiguration#

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

Configs that affect general behavior during closed-looping.

Includes Continuous Wrap features.

Parameters:: new_closed_loop_general (ClosedLoopGeneralConfigs) – Parameter to modify
Returns:: Itself
Return type:: TalonFXConfiguration

with_slot0(new_slot0: phoenix6.configs.config_groups.Slot0Configs) → TalonFXConfiguration#

Modifies this configuration’s slot0 parameter and returns itself for method-chaining and easier to use config API.

Gains for the specified slot.

If this slot is selected, these gains are used in closed loop control requests.

Parameters:: new_slot0 (Slot0Configs) – Parameter to modify
Returns:: Itself
Return type:: TalonFXConfiguration

with_slot1(new_slot1: phoenix6.configs.config_groups.Slot1Configs) → TalonFXConfiguration#

Modifies this configuration’s slot1 parameter and returns itself for method-chaining and easier to use config API.

Gains for the specified slot.

If this slot is selected, these gains are used in closed loop control requests.

Parameters:: new_slot1 (Slot1Configs) – Parameter to modify
Returns:: Itself
Return type:: TalonFXConfiguration

with_slot2(new_slot2: phoenix6.configs.config_groups.Slot2Configs) → TalonFXConfiguration#

Modifies this configuration’s slot2 parameter and returns itself for method-chaining and easier to use config API.

Gains for the specified slot.

If this slot is selected, these gains are used in closed loop control requests.

Parameters:: new_slot2 (Slot2Configs) – Parameter to modify
Returns:: Itself
Return type:: TalonFXConfiguration

serialize() → str#

Get the serialized form of this configuration

Returns:: Serialized form of this config group
Return type:: str

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

Take a string and deserialize it to this configuration

Returns:: Return code of the deserialize method
Return type:: str

class phoenix6.configs.talon_fx_configs.TalonFXConfigurator(id: phoenix6.hardware.device_identifier.DeviceIdentifier)#

Bases: phoenix6.configs.parent_configurator.ParentConfigurator

Class description for the Talon FX integrated motor controller.

This handles the configurations for TalonFX

refresh(configs: phoenix6.configs.config_groups.SupportsSerialization, timeout_seconds: phoenix6.units.second = 0.05) → phoenix6.status_code.StatusCode#

Refreshes the values of the specified config group.

Call to refresh the selected configs from the device.

Parameters:

configs (name) – The configs to refresh
timeout_seconds (second) – Maximum amount of time to wait when performing configuration

Returns:

StatusCode of refreshing the configs

Return type:

StatusCode

apply(configs: phoenix6.configs.config_groups.SupportsSerialization, timeout_seconds: phoenix6.units.second = 0.05) → phoenix6.status_code.StatusCode#

Applies the contents of the specified config to the device.

Call to apply the selected configs.

Parameters:

configs (SupportsSerialization) – Configs to apply
timeout_seconds (second) – Maximum amount of time to wait when performing configuration

Returns:

StatusCode of the apply method

Return type:

StatusCode

set_position(new_value: phoenix6.units.rotation, timeout_seconds: phoenix6.units.second = 0.05) → phoenix6.status_code.StatusCode#

Sets the mechanism position of the device in mechanism rotations.

This is available in the configurator in case the user wants to initialize their device entirely without passing a device reference down to the code that performs the initialization. In this case, the user passes down the configurator object and performs all the initialization code on the object.

Parameters:

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

Returns:

StatusCode of the set command

Return type:

StatusCode

clear_sticky_faults(timeout_seconds: phoenix6.units.second = 0.05) → phoenix6.status_code.StatusCode#

Clear the sticky faults in the device.

This typically has no impact on the device functionality. Instead, it just clears telemetry faults that are accessible via API and Tuner Self-Test.

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

clear_sticky_fault_hardware(timeout_seconds: phoenix6.units.second = 0.05) → phoenix6.status_code.StatusCode#

Clear sticky fault: Hardware fault occurred

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

clear_sticky_fault_proc_temp(timeout_seconds: phoenix6.units.second = 0.05) → phoenix6.status_code.StatusCode#

Clear sticky fault: Processor temperature exceeded limit

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

clear_sticky_fault_device_temp(timeout_seconds: phoenix6.units.second = 0.05) → phoenix6.status_code.StatusCode#

Clear sticky fault: Device temperature exceeded limit

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

clear_sticky_fault_undervoltage(timeout_seconds: phoenix6.units.second = 0.05) → phoenix6.status_code.StatusCode#

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

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

clear_sticky_fault_boot_during_enable(timeout_seconds: phoenix6.units.second = 0.05) → phoenix6.status_code.StatusCode#

Clear sticky fault: Device boot while detecting the enable signal

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

clear_sticky_fault_bridge_brownout(timeout_seconds: phoenix6.units.second = 0.05) → phoenix6.status_code.StatusCode#

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

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

clear_sticky_fault_remote_sensor_reset(timeout_seconds: phoenix6.units.second = 0.05) → phoenix6.status_code.StatusCode#

Clear sticky fault: The remote sensor has reset.

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

clear_sticky_fault_missing_differential_fx(timeout_seconds: phoenix6.units.second = 0.05) → phoenix6.status_code.StatusCode#

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

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

clear_sticky_fault_remote_sensor_pos_overflow(timeout_seconds: phoenix6.units.second = 0.05) → phoenix6.status_code.StatusCode#

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

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

clear_sticky_fault_over_supply_v(timeout_seconds: phoenix6.units.second = 0.05) → phoenix6.status_code.StatusCode#

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

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

clear_sticky_fault_unstable_supply_v(timeout_seconds: phoenix6.units.second = 0.05) → phoenix6.status_code.StatusCode#

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

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

clear_sticky_fault_reverse_hard_limit(timeout_seconds: phoenix6.units.second = 0.05) → phoenix6.status_code.StatusCode#

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

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

clear_sticky_fault_forward_hard_limit(timeout_seconds: phoenix6.units.second = 0.05) → phoenix6.status_code.StatusCode#

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

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

clear_sticky_fault_reverse_soft_limit(timeout_seconds: phoenix6.units.second = 0.05) → phoenix6.status_code.StatusCode#

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

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

clear_sticky_fault_forward_soft_limit(timeout_seconds: phoenix6.units.second = 0.05) → phoenix6.status_code.StatusCode#

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

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

clear_sticky_fault_remote_sensor_data_invalid(timeout_seconds: phoenix6.units.second = 0.05) → phoenix6.status_code.StatusCode#

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

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

clear_sticky_fault_fused_sensor_out_of_sync(timeout_seconds: phoenix6.units.second = 0.05) → phoenix6.status_code.StatusCode#

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

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

clear_sticky_fault_stator_curr_limit(timeout_seconds: phoenix6.units.second = 0.05) → phoenix6.status_code.StatusCode#

Clear sticky fault: Stator current limit occured.

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

clear_sticky_fault_supply_curr_limit(timeout_seconds: phoenix6.units.second = 0.05) → phoenix6.status_code.StatusCode#

Clear sticky fault: Supply current limit occured.

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

phoenix6.configs.talon_fx_configs#

Module Contents#

`phoenix6.configs.talon_fx_configs`#