phoenix6.hardware.core.core_cancoder#

Module Contents#

class phoenix6.hardware.core.core_cancoder.CoreCANcoder(device_id: int, canbus: str = '')#

Bases: phoenix6.hardware.parent_device.ParentDevice

Constructs a new CANcoder object.

Parameters:
  • device_id (int) – ID of the device, as configured in Phoenix Tuner.

  • canbus (str, optional) – Name of the CAN bus this device is on. Possible CAN bus strings are: rio - The native roboRIO CAN bus CANivore Name or Serial Number SocketCAN interface - non-FRC Linux only * - Any CANivore seen by the program Empty String - Default for the system (“rio” for roboRIO, “can0” for linux, “*” for Windows)

property sim_state: phoenix6.sim.cancoder_sim_state.CANcoderSimState#

Get the simulation state for this device.

This function reuses an allocated simulation state object, so it is safe to call this function multiple times in a robot loop.

Returns:

Simulation state

Return type:

CANcoderSimState

get_version_major() phoenix6.status_signal.StatusSignal[int]#

App Major Version number.

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

Default Rates:

CAN: 4.0 Hz

Returns:

VersionMajor Status Signal Object

Return type:

StatusSignal[int]

get_version_minor() phoenix6.status_signal.StatusSignal[int]#

App Minor Version number.

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

Default Rates:

CAN: 4.0 Hz

Returns:

VersionMinor Status Signal Object

Return type:

StatusSignal[int]

get_version_bugfix() phoenix6.status_signal.StatusSignal[int]#

App Bugfix Version number.

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

Default Rates:

CAN: 4.0 Hz

Returns:

VersionBugfix Status Signal Object

Return type:

StatusSignal[int]

get_version_build() phoenix6.status_signal.StatusSignal[int]#

App Build Version number.

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

Default Rates:

CAN: 4.0 Hz

Returns:

VersionBuild Status Signal Object

Return type:

StatusSignal[int]

get_version() phoenix6.status_signal.StatusSignal[int]#

Full Version. The format is a four byte value.

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

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

Default Rates:

CAN: 4.0 Hz

Returns:

Version Status Signal Object

Return type:

StatusSignal[int]

get_fault_field() phoenix6.status_signal.StatusSignal[int]#

Integer representing all faults

This returns the fault flags reported by the device. These are device specific and are not used directly in typical applications. Use the signal specific GetFault_*() methods instead.

Minimum Value: 0 Maximum Value: 16777215 Default Value: 0 Units:

Default Rates:

CAN: 4.0 Hz

Returns:

FaultField Status Signal Object

Return type:

StatusSignal[int]

get_sticky_fault_field() phoenix6.status_signal.StatusSignal[int]#

Integer representing all sticky faults

This returns the persistent “sticky” fault flags reported by the device. These are device specific and are not used directly in typical applications. Use the signal specific GetStickyFault_*() methods instead.

Minimum Value: 0 Maximum Value: 16777215 Default Value: 0 Units:

Default Rates:

CAN: 4.0 Hz

Returns:

StickyFaultField Status Signal Object

Return type:

StatusSignal[int]

get_velocity() phoenix6.status_signal.StatusSignal[phoenix6.units.rotations_per_second]#

Velocity of the device.

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

Default Rates:

CAN 2.0: 100.0 Hz CAN FD: 100.0 Hz (TimeSynced with Pro)

Returns:

Velocity Status Signal Object

Return type:

StatusSignal[rotations_per_second]

get_position() phoenix6.status_signal.StatusSignal[phoenix6.units.rotation]#

Position of the device. This is initialized to the absolute position on boot.

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

Default Rates:

CAN 2.0: 100.0 Hz CAN FD: 100.0 Hz (TimeSynced with Pro)

Returns:

Position Status Signal Object

Return type:

StatusSignal[rotation]

get_absolute_position() phoenix6.status_signal.StatusSignal[phoenix6.units.rotation]#

Absolute Position of the device. The possible range is documented below; however, the exact expected range is determined by the AbsoluteSensorRange. This position is only affected by the MagnetSensor configs.

Minimum Value: -0.5 Maximum Value: 0.999755859375 Default Value: 0 Units: rotations

Default Rates:

CAN 2.0: 100.0 Hz CAN FD: 100.0 Hz (TimeSynced with Pro)

Returns:

AbsolutePosition Status Signal Object

Return type:

StatusSignal[rotation]

get_unfiltered_velocity() phoenix6.status_signal.StatusSignal[phoenix6.units.rotations_per_second]#

The unfiltered velocity reported by CANcoder.

This is the unfiltered velocity reported by CANcoder. This signal does not use the fusing algorithm.

Minimum Value: -8000.0 Maximum Value: 7999.755859375 Default Value: 0 Units: rotations per second

Default Rates:

CAN 2.0: 4.0 Hz CAN FD: 100.0 Hz (TimeSynced with Pro)

Returns:

UnfilteredVelocity Status Signal Object

Return type:

StatusSignal[rotations_per_second]

get_position_since_boot() phoenix6.status_signal.StatusSignal[phoenix6.units.rotation]#

The relative position reported by the CANcoder since boot.

This is the total displacement reported by CANcoder since power up. This signal is relative and is not influenced by the fusing algorithm.

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

Default Rates:

CAN 2.0: 4.0 Hz CAN FD: 100.0 Hz (TimeSynced with Pro)

Returns:

PositionSinceBoot Status Signal Object

Return type:

StatusSignal[rotation]

get_supply_voltage() phoenix6.status_signal.StatusSignal[phoenix6.units.volt]#

Measured supply voltage to the CANcoder.

Minimum Value: 4 Maximum Value: 16.75 Default Value: 4 Units: V

Default Rates:

CAN 2.0: 4.0 Hz CAN FD: 100.0 Hz (TimeSynced with Pro)

Returns:

SupplyVoltage Status Signal Object

Return type:

StatusSignal[volt]

get_magnet_health() phoenix6.status_signal.StatusSignal[phoenix6.signals.spn_enums.MagnetHealthValue]#

Magnet health as measured by CANcoder.

Magnet health as measured by CANcoder. Red indicates too close or too far, Orange is adequate but with reduced accuracy, green is ideal. Invalid means the accuracy cannot be determined.

Default Rates:

CAN 2.0: 4.0 Hz CAN FD: 100.0 Hz (TimeSynced with Pro)

Returns:

MagnetHealth Status Signal Object

Return type:

StatusSignal[MagnetHealthValue]

get_is_pro_licensed() phoenix6.status_signal.StatusSignal[bool]#

Whether the device is Phoenix Pro licensed.

Default Value: False

Default Rates:

CAN: 4.0 Hz

Returns:

IsProLicensed Status Signal Object

Return type:

StatusSignal[bool]

get_fault_hardware() phoenix6.status_signal.StatusSignal[bool]#

Hardware fault occurred

Default Value: False

Default Rates:

CAN: 4.0 Hz

Returns:

Fault_Hardware Status Signal Object

Return type:

StatusSignal[bool]

get_sticky_fault_hardware() phoenix6.status_signal.StatusSignal[bool]#

Hardware fault occurred

Default Value: False

Default Rates:

CAN: 4.0 Hz

Returns:

StickyFault_Hardware Status Signal Object

Return type:

StatusSignal[bool]

get_fault_undervoltage() phoenix6.status_signal.StatusSignal[bool]#

Device supply voltage dropped to near brownout levels

Default Value: False

Default Rates:

CAN: 4.0 Hz

Returns:

Fault_Undervoltage Status Signal Object

Return type:

StatusSignal[bool]

get_sticky_fault_undervoltage() phoenix6.status_signal.StatusSignal[bool]#

Device supply voltage dropped to near brownout levels

Default Value: False

Default Rates:

CAN: 4.0 Hz

Returns:

StickyFault_Undervoltage Status Signal Object

Return type:

StatusSignal[bool]

get_fault_boot_during_enable() phoenix6.status_signal.StatusSignal[bool]#

Device boot while detecting the enable signal

Default Value: False

Default Rates:

CAN: 4.0 Hz

Returns:

Fault_BootDuringEnable Status Signal Object

Return type:

StatusSignal[bool]

get_sticky_fault_boot_during_enable() phoenix6.status_signal.StatusSignal[bool]#

Device boot while detecting the enable signal

Default Value: False

Default Rates:

CAN: 4.0 Hz

Returns:

StickyFault_BootDuringEnable Status Signal Object

Return type:

StatusSignal[bool]

get_fault_unlicensed_feature_in_use() phoenix6.status_signal.StatusSignal[bool]#

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

Default Value: False

Default Rates:

CAN: 4.0 Hz

Returns:

Fault_UnlicensedFeatureInUse Status Signal Object

Return type:

StatusSignal[bool]

get_sticky_fault_unlicensed_feature_in_use() phoenix6.status_signal.StatusSignal[bool]#

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

Default Value: False

Default Rates:

CAN: 4.0 Hz

Returns:

StickyFault_UnlicensedFeatureInUse Status Signal Object

Return type:

StatusSignal[bool]

get_fault_bad_magnet() phoenix6.status_signal.StatusSignal[bool]#

The magnet distance is not correct or magnet is missing

Default Value: False

Default Rates:

CAN: 4.0 Hz

Returns:

Fault_BadMagnet Status Signal Object

Return type:

StatusSignal[bool]

get_sticky_fault_bad_magnet() phoenix6.status_signal.StatusSignal[bool]#

The magnet distance is not correct or magnet is missing

Default Value: False

Default Rates:

CAN: 4.0 Hz

Returns:

StickyFault_BadMagnet Status Signal Object

Return type:

StatusSignal[bool]

set_control(request: phoenix6.hardware.parent_device.SupportsSendRequest) phoenix6.status_signal.StatusCode#

Control motor with generic control request object.

If control request is not supported by device, this request will fail with StatusCode NotSupported

Parameters:

request (SupportsSendRequest) – Control object to request of the device

Returns:

StatusCode of the request

Return type:

StatusCode

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

Sets the current position of the device.

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_signal.StatusCode#

Clear the sticky faults in the device.

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

Parameters:

timeout_seconds (second) – Maximum time to wait up to in seconds.

Returns:

StatusCode of the set command

Return type:

StatusCode

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

Clear sticky fault: Hardware fault occurred

Parameters:

timeout_seconds (second) – Maximum time to wait up to in seconds.

Returns:

StatusCode of the set command

Return type:

StatusCode

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

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

Parameters:

timeout_seconds (second) – Maximum time to wait up to in seconds.

Returns:

StatusCode of the set command

Return type:

StatusCode

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

Clear sticky fault: Device boot while detecting the enable signal

Parameters:

timeout_seconds (second) – Maximum time to wait up to in seconds.

Returns:

StatusCode of the set command

Return type:

StatusCode

clear_sticky_fault_bad_magnet(timeout_seconds: phoenix6.units.second = 0.05) phoenix6.status_signal.StatusCode#

Clear sticky fault: The magnet distance is not correct or magnet is missing

Parameters:

timeout_seconds (second) – Maximum time to wait up to in seconds.

Returns:

StatusCode of the set command

Return type:

StatusCode