`phoenix6.configs.talon_fxs_configs`¶

Module Contents¶

class phoenix6.configs.talon_fxs_configs.TalonFXSConfiguration¶

Class description for the Talon FXS motor controller.

This handles the configurations for TalonFXS

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.

Parameter list:

MotorOutputConfigs.inverted
MotorOutputConfigs.neutral_mode
MotorOutputConfigs.duty_cycle_neutral_deadband
MotorOutputConfigs.peak_forward_duty_cycle
MotorOutputConfigs.peak_reverse_duty_cycle
MotorOutputConfigs.control_timesync_freq_hz

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.

Parameter list:

CurrentLimitsConfigs.stator_current_limit
CurrentLimitsConfigs.stator_current_limit_enable
CurrentLimitsConfigs.supply_current_limit
CurrentLimitsConfigs.supply_current_limit_enable
CurrentLimitsConfigs.supply_current_lower_limit
CurrentLimitsConfigs.supply_current_lower_time

voltage: phoenix6.configs.config_groups.VoltageConfigs¶

Configs that affect Voltage control types.

Includes peak output voltages and other configs affecting voltage measurements.

Parameter list:

VoltageConfigs.supply_voltage_time_constant
VoltageConfigs.peak_forward_voltage
VoltageConfigs.peak_reverse_voltage

external_feedback: phoenix6.configs.config_groups.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.

Parameter list:

ExternalFeedbackConfigs.sensor_to_mechanism_ratio
ExternalFeedbackConfigs.rotor_to_sensor_ratio
ExternalFeedbackConfigs.feedback_remote_sensor_id
ExternalFeedbackConfigs.velocity_filter_time_constant
ExternalFeedbackConfigs.absolute_sensor_offset
ExternalFeedbackConfigs.external_feedback_sensor_source
ExternalFeedbackConfigs.sensor_phase
ExternalFeedbackConfigs.quadrature_edges_per_rotation
ExternalFeedbackConfigs.absolute_sensor_discontinuity_point

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.

Parameter list:

DifferentialSensorsConfigs.differential_sensor_source
DifferentialSensorsConfigs.differential_talon_fx_sensor_id
DifferentialSensorsConfigs.differential_remote_sensor_id

differential_constants: phoenix6.configs.config_groups.DifferentialConstantsConfigs¶

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

Includes the differential peak outputs.

Parameter list:

DifferentialConstantsConfigs.peak_differential_duty_cycle
DifferentialConstantsConfigs.peak_differential_voltage
DifferentialConstantsConfigs.peak_differential_torque_current

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.

Parameter list:

OpenLoopRampsConfigs.duty_cycle_open_loop_ramp_period
OpenLoopRampsConfigs.voltage_open_loop_ramp_period
OpenLoopRampsConfigs.torque_open_loop_ramp_period

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.

Parameter list:

ClosedLoopRampsConfigs.duty_cycle_closed_loop_ramp_period
ClosedLoopRampsConfigs.voltage_closed_loop_ramp_period
ClosedLoopRampsConfigs.torque_closed_loop_ramp_period

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.

Parameter list:

HardwareLimitSwitchConfigs.forward_limit_type
HardwareLimitSwitchConfigs.forward_limit_autoset_position_enable
HardwareLimitSwitchConfigs.forward_limit_autoset_position_value
HardwareLimitSwitchConfigs.forward_limit_enable
HardwareLimitSwitchConfigs.forward_limit_source
HardwareLimitSwitchConfigs.forward_limit_remote_sensor_id
HardwareLimitSwitchConfigs.reverse_limit_type
HardwareLimitSwitchConfigs.reverse_limit_autoset_position_enable
HardwareLimitSwitchConfigs.reverse_limit_autoset_position_value
HardwareLimitSwitchConfigs.reverse_limit_enable
HardwareLimitSwitchConfigs.reverse_limit_source
HardwareLimitSwitchConfigs.reverse_limit_remote_sensor_id

audio: phoenix6.configs.config_groups.AudioConfigs¶

Configs that affect audible components of the device.

Includes configuration for the beep on boot.

Parameter list:

AudioConfigs.beep_on_boot
AudioConfigs.beep_on_config
AudioConfigs.allow_music_dur_disable

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.

Parameter list:

SoftwareLimitSwitchConfigs.forward_soft_limit_enable
SoftwareLimitSwitchConfigs.reverse_soft_limit_enable
SoftwareLimitSwitchConfigs.forward_soft_limit_threshold
SoftwareLimitSwitchConfigs.reverse_soft_limit_threshold

motion_magic: phoenix6.configs.config_groups.MotionMagicConfigs¶

Configs for Motion Magic®.

Includes Velocity, Acceleration, Jerk, and Expo parameters.

Parameter list:

MotionMagicConfigs.motion_magic_cruise_velocity
MotionMagicConfigs.motion_magic_acceleration
MotionMagicConfigs.motion_magic_jerk
MotionMagicConfigs.motion_magic_expo_k_v
MotionMagicConfigs.motion_magic_expo_k_a

custom_params: phoenix6.configs.config_groups.CustomParamsConfigs¶

Custom Params.

Custom paramaters that have no real impact on controller.

Parameter list:

CustomParamsConfigs.custom_param0
CustomParamsConfigs.custom_param1

closed_loop_general: phoenix6.configs.config_groups.ClosedLoopGeneralConfigs¶

Configs that affect general behavior during closed-looping.

Includes Continuous Wrap features.

Parameter list:

ClosedLoopGeneralConfigs.continuous_wrap

commutation: phoenix6.configs.config_groups.CommutationConfigs¶

Configs that determine motor selection and commutation.

Set these configs to match your motor setup before commanding motor output.

Parameter list:

CommutationConfigs.advanced_hall_support
CommutationConfigs.motor_arrangement
CommutationConfigs.brushed_motor_wiring

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.

Parameter list:

Slot0Configs.k_p
Slot0Configs.k_i
Slot0Configs.k_d
Slot0Configs.k_s
Slot0Configs.k_v
Slot0Configs.k_a
Slot0Configs.k_g
Slot0Configs.gravity_type
Slot0Configs.static_feedforward_sign

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.

Parameter list:

Slot1Configs.k_p
Slot1Configs.k_i
Slot1Configs.k_d
Slot1Configs.k_s
Slot1Configs.k_v
Slot1Configs.k_a
Slot1Configs.k_g
Slot1Configs.gravity_type
Slot1Configs.static_feedforward_sign

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.

Parameter list:

Slot2Configs.k_p
Slot2Configs.k_i
Slot2Configs.k_d
Slot2Configs.k_s
Slot2Configs.k_v
Slot2Configs.k_a
Slot2Configs.k_g
Slot2Configs.gravity_type
Slot2Configs.static_feedforward_sign

with_motor_output(new_motor_output: phoenix6.configs.config_groups.MotorOutputConfigs) → TalonFXSConfiguration¶

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.

Parameter list:

MotorOutputConfigs.inverted
MotorOutputConfigs.neutral_mode
MotorOutputConfigs.duty_cycle_neutral_deadband
MotorOutputConfigs.peak_forward_duty_cycle
MotorOutputConfigs.peak_reverse_duty_cycle
MotorOutputConfigs.control_timesync_freq_hz

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

with_current_limits(new_current_limits: phoenix6.configs.config_groups.CurrentLimitsConfigs) → TalonFXSConfiguration¶

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.

Parameter list:

CurrentLimitsConfigs.stator_current_limit
CurrentLimitsConfigs.stator_current_limit_enable
CurrentLimitsConfigs.supply_current_limit
CurrentLimitsConfigs.supply_current_limit_enable
CurrentLimitsConfigs.supply_current_lower_limit
CurrentLimitsConfigs.supply_current_lower_time

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

with_voltage(new_voltage: phoenix6.configs.config_groups.VoltageConfigs) → TalonFXSConfiguration¶

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.

Parameter list:

VoltageConfigs.supply_voltage_time_constant
VoltageConfigs.peak_forward_voltage
VoltageConfigs.peak_reverse_voltage

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

with_external_feedback(new_external_feedback: phoenix6.configs.config_groups.ExternalFeedbackConfigs) → TalonFXSConfiguration¶

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

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.

Parameter list:

ExternalFeedbackConfigs.sensor_to_mechanism_ratio
ExternalFeedbackConfigs.rotor_to_sensor_ratio
ExternalFeedbackConfigs.feedback_remote_sensor_id
ExternalFeedbackConfigs.velocity_filter_time_constant
ExternalFeedbackConfigs.absolute_sensor_offset
ExternalFeedbackConfigs.external_feedback_sensor_source
ExternalFeedbackConfigs.sensor_phase
ExternalFeedbackConfigs.quadrature_edges_per_rotation
ExternalFeedbackConfigs.absolute_sensor_discontinuity_point

Parameters:: new_external_feedback (ExternalFeedbackConfigs) – Parameter to modify
Returns:: Itself
Return type:: TalonFXSConfiguration

with_differential_sensors(new_differential_sensors: phoenix6.configs.config_groups.DifferentialSensorsConfigs) → TalonFXSConfiguration¶

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.

Parameter list:

DifferentialSensorsConfigs.differential_sensor_source
DifferentialSensorsConfigs.differential_talon_fx_sensor_id
DifferentialSensorsConfigs.differential_remote_sensor_id

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

with_differential_constants(new_differential_constants: phoenix6.configs.config_groups.DifferentialConstantsConfigs) → TalonFXSConfiguration¶

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.

Parameter list:

DifferentialConstantsConfigs.peak_differential_duty_cycle
DifferentialConstantsConfigs.peak_differential_voltage
DifferentialConstantsConfigs.peak_differential_torque_current

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

with_open_loop_ramps(new_open_loop_ramps: phoenix6.configs.config_groups.OpenLoopRampsConfigs) → TalonFXSConfiguration¶

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.

Parameter list:

OpenLoopRampsConfigs.duty_cycle_open_loop_ramp_period
OpenLoopRampsConfigs.voltage_open_loop_ramp_period
OpenLoopRampsConfigs.torque_open_loop_ramp_period

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

with_closed_loop_ramps(new_closed_loop_ramps: phoenix6.configs.config_groups.ClosedLoopRampsConfigs) → TalonFXSConfiguration¶

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.

Parameter list:

ClosedLoopRampsConfigs.duty_cycle_closed_loop_ramp_period
ClosedLoopRampsConfigs.voltage_closed_loop_ramp_period
ClosedLoopRampsConfigs.torque_closed_loop_ramp_period

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

with_hardware_limit_switch(new_hardware_limit_switch: phoenix6.configs.config_groups.HardwareLimitSwitchConfigs) → TalonFXSConfiguration¶

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.

Parameter list:

HardwareLimitSwitchConfigs.forward_limit_type
HardwareLimitSwitchConfigs.forward_limit_autoset_position_enable
HardwareLimitSwitchConfigs.forward_limit_autoset_position_value
HardwareLimitSwitchConfigs.forward_limit_enable
HardwareLimitSwitchConfigs.forward_limit_source
HardwareLimitSwitchConfigs.forward_limit_remote_sensor_id
HardwareLimitSwitchConfigs.reverse_limit_type
HardwareLimitSwitchConfigs.reverse_limit_autoset_position_enable
HardwareLimitSwitchConfigs.reverse_limit_autoset_position_value
HardwareLimitSwitchConfigs.reverse_limit_enable
HardwareLimitSwitchConfigs.reverse_limit_source
HardwareLimitSwitchConfigs.reverse_limit_remote_sensor_id

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

with_audio(new_audio: phoenix6.configs.config_groups.AudioConfigs) → TalonFXSConfiguration¶

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.

Parameter list:

AudioConfigs.beep_on_boot
AudioConfigs.beep_on_config
AudioConfigs.allow_music_dur_disable

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

with_software_limit_switch(new_software_limit_switch: phoenix6.configs.config_groups.SoftwareLimitSwitchConfigs) → TalonFXSConfiguration¶

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.

Parameter list:

SoftwareLimitSwitchConfigs.forward_soft_limit_enable
SoftwareLimitSwitchConfigs.reverse_soft_limit_enable
SoftwareLimitSwitchConfigs.forward_soft_limit_threshold
SoftwareLimitSwitchConfigs.reverse_soft_limit_threshold

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

with_motion_magic(new_motion_magic: phoenix6.configs.config_groups.MotionMagicConfigs) → TalonFXSConfiguration¶

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.

Parameter list:

MotionMagicConfigs.motion_magic_cruise_velocity
MotionMagicConfigs.motion_magic_acceleration
MotionMagicConfigs.motion_magic_jerk
MotionMagicConfigs.motion_magic_expo_k_v
MotionMagicConfigs.motion_magic_expo_k_a

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

with_custom_params(new_custom_params: phoenix6.configs.config_groups.CustomParamsConfigs) → TalonFXSConfiguration¶

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.

Parameter list:

CustomParamsConfigs.custom_param0
CustomParamsConfigs.custom_param1

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

with_closed_loop_general(new_closed_loop_general: phoenix6.configs.config_groups.ClosedLoopGeneralConfigs) → TalonFXSConfiguration¶

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.

Parameter list:

ClosedLoopGeneralConfigs.continuous_wrap

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

with_commutation(new_commutation: phoenix6.configs.config_groups.CommutationConfigs) → TalonFXSConfiguration¶

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

Configs that determine motor selection and commutation.

Set these configs to match your motor setup before commanding motor output.

Parameter list:

CommutationConfigs.advanced_hall_support
CommutationConfigs.motor_arrangement
CommutationConfigs.brushed_motor_wiring

Parameters:: new_commutation (CommutationConfigs) – Parameter to modify
Returns:: Itself
Return type:: TalonFXSConfiguration

with_slot0(new_slot0: phoenix6.configs.config_groups.Slot0Configs) → TalonFXSConfiguration¶

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.

Parameter list:

Slot0Configs.k_p
Slot0Configs.k_i
Slot0Configs.k_d
Slot0Configs.k_s
Slot0Configs.k_v
Slot0Configs.k_a
Slot0Configs.k_g
Slot0Configs.gravity_type
Slot0Configs.static_feedforward_sign

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

with_slot1(new_slot1: phoenix6.configs.config_groups.Slot1Configs) → TalonFXSConfiguration¶

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.

Parameter list:

Slot1Configs.k_p
Slot1Configs.k_i
Slot1Configs.k_d
Slot1Configs.k_s
Slot1Configs.k_v
Slot1Configs.k_a
Slot1Configs.k_g
Slot1Configs.gravity_type
Slot1Configs.static_feedforward_sign

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

with_slot2(new_slot2: phoenix6.configs.config_groups.Slot2Configs) → TalonFXSConfiguration¶

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.

Parameter list:

Slot2Configs.k_p
Slot2Configs.k_i
Slot2Configs.k_d
Slot2Configs.k_s
Slot2Configs.k_v
Slot2Configs.k_a
Slot2Configs.k_g
Slot2Configs.gravity_type
Slot2Configs.static_feedforward_sign

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

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_fxs_configs.TalonFXSConfigurator(id: phoenix6.hardware.device_identifier.DeviceIdentifier)¶

Bases: phoenix6.configs.parent_configurator.ParentConfigurator

Class description for the Talon FXS motor controller.

This handles the configurations for TalonFXS

refresh(configs: phoenix6.configs.config_groups.SupportsSerialization, timeout_seconds: phoenix6.units.second = 0.1) → 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 = 0.1) → 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 = 0.1) → 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 = 0.1) → 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 = 0.1) → 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 = 0.1) → 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 = 0.1) → 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 = 0.1) → 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 = 0.1) → 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_unlicensed_feature_in_use(timeout_seconds: phoenix6.units.second = 0.1) → phoenix6.status_code.StatusCode¶

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

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

clear_sticky_fault_bridge_brownout(timeout_seconds: phoenix6.units.second = 0.1) → phoenix6.status_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 = 0.1) → 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 = 0.1) → phoenix6.status_code.StatusCode¶

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

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

clear_sticky_fault_remote_sensor_pos_overflow(timeout_seconds: phoenix6.units.second = 0.1) → phoenix6.status_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 = 0.1) → 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 = 0.1) → 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 = 0.1) → 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 = 0.1) → 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 = 0.1) → 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 = 0.1) → 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_missing_soft_limit_remote(timeout_seconds: phoenix6.units.second = 0.1) → phoenix6.status_code.StatusCode¶

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

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

clear_sticky_fault_missing_hard_limit_remote(timeout_seconds: phoenix6.units.second = 0.1) → phoenix6.status_code.StatusCode¶

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

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

clear_sticky_fault_remote_sensor_data_invalid(timeout_seconds: phoenix6.units.second = 0.1) → phoenix6.status_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 = 0.1) → 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 = 0.1) → 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 = 0.1) → 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

clear_sticky_fault_using_fused_cancoder_while_unlicensed(timeout_seconds: phoenix6.units.second = 0.1) → phoenix6.status_code.StatusCode¶

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

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

clear_sticky_fault_static_brake_disabled(timeout_seconds: phoenix6.units.second = 0.1) → phoenix6.status_code.StatusCode¶

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

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

clear_sticky_fault_bridge_short(timeout_seconds: phoenix6.units.second = 0.1) → phoenix6.status_code.StatusCode¶

Clear sticky fault: Bridge was disabled most likely due to a short in the motor leads.

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

clear_sticky_fault_hall_sensor_missing(timeout_seconds: phoenix6.units.second = 0.1) → phoenix6.status_code.StatusCode¶

Clear sticky fault: Hall sensor signals are invalid. Check hall sensor and cabling. This fault can be used to detect when hall cable is unplugged.

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

clear_sticky_fault_drive_disabled_hall_sensor(timeout_seconds: phoenix6.units.second = 0.1) → phoenix6.status_code.StatusCode¶

Clear sticky fault: Hall sensor signals are invalid during motor drive, so motor was disabled. Check hall sensor and cabling.

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

clear_sticky_fault_motor_temp_sensor_missing(timeout_seconds: phoenix6.units.second = 0.1) → phoenix6.status_code.StatusCode¶

Clear sticky fault: Motor temperature signal appears to not be connected.

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

clear_sticky_fault_motor_temp_sensor_too_hot(timeout_seconds: phoenix6.units.second = 0.1) → phoenix6.status_code.StatusCode¶

Clear sticky fault: Motor temperature signal indicates motor is too hot.

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

phoenix6.configs.talon_fxs_configs¶

Module Contents¶

`phoenix6.configs.talon_fxs_configs`¶