`phoenix6.hardware.core.core_talon_fx`#

Module Contents#

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

Bases: phoenix6.hardware.parent_device.ParentDevice

Constructs a new Talon FX motor controller 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” for the native roboRIO CAN bus
- CANivore name or serial number
- SocketCAN interface (non-FRC Linux only)
- ”*” for any CANivore seen by the program
- empty string (default) to select the default for the system:
  - ”rio” on roboRIO
  - ”can0” on Linux
  - ”*” on Windows

property sim_state: phoenix6.sim.talon_fx_sim_state.TalonFXSimState#

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:: TalonFXSimState

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

App Major Version number.

Default Rates:

CAN: 4.0 Hz

This refreshes and returns a cached StatusSignal object.

Returns:: VersionMajor Status Signal Object
Return type:: StatusSignal[int]

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

App Minor Version number.

Default Rates:

CAN: 4.0 Hz

This refreshes and returns a cached StatusSignal object.

Returns:: VersionMinor Status Signal Object
Return type:: StatusSignal[int]

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

App Bugfix Version number.

Default Rates:

CAN: 4.0 Hz

This refreshes and returns a cached StatusSignal object.

Returns:: VersionBugfix Status Signal Object
Return type:: StatusSignal[int]

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

App Build Version number.

Default Rates:

CAN: 4.0 Hz

This refreshes and returns a cached StatusSignal object.

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.

Default Rates:

CAN: 4.0 Hz

This refreshes and returns a cached StatusSignal object.

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.

Default Rates:

CAN: 4.0 Hz

This refreshes and returns a cached StatusSignal object.

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.

Default Rates:

CAN: 4.0 Hz

This refreshes and returns a cached StatusSignal object.

Returns:: StickyFaultField Status Signal Object
Return type:: StatusSignal[int]

get_motor_voltage() → phoenix6.status_signal.StatusSignal[phoenix6.units.volt]#

The applied (output) motor voltage.

Default Rates:

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

This refreshes and returns a cached StatusSignal object.

Returns:: MotorVoltage Status Signal Object
Return type:: StatusSignal[volt]

get_forward_limit() → phoenix6.status_signal.StatusSignal[phoenix6.signals.spn_enums.ForwardLimitValue]#

Forward Limit Pin.

Default Rates:

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

This refreshes and returns a cached StatusSignal object.

Returns:: ForwardLimit Status Signal Object
Return type:: StatusSignal[ForwardLimitValue]

get_reverse_limit() → phoenix6.status_signal.StatusSignal[phoenix6.signals.spn_enums.ReverseLimitValue]#

Reverse Limit Pin.

Default Rates:

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

This refreshes and returns a cached StatusSignal object.

Returns:: ReverseLimit Status Signal Object
Return type:: StatusSignal[ReverseLimitValue]

get_applied_rotor_polarity() → phoenix6.status_signal.StatusSignal[phoenix6.signals.spn_enums.AppliedRotorPolarityValue]#

The applied rotor polarity. This typically is determined by the Inverted config, but can be overridden if using Follower features.

Default Rates:

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

This refreshes and returns a cached StatusSignal object.

Returns:: AppliedRotorPolarity Status Signal Object
Return type:: StatusSignal[AppliedRotorPolarityValue]

get_duty_cycle() → phoenix6.status_signal.StatusSignal[float]#

The applied motor duty cycle.

Default Rates:

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

This refreshes and returns a cached StatusSignal object.

Returns:: DutyCycle Status Signal Object
Return type:: StatusSignal[float]

get_torque_current() → phoenix6.status_signal.StatusSignal[phoenix6.units.ampere]#

Current corresponding to the torque output by the motor. Similar to StatorCurrent. Users will likely prefer this current to calculate the applied torque to the rotor.

Stator current where positive current means torque is applied in the forward direction as determined by the Inverted setting

Default Rates:

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

This refreshes and returns a cached StatusSignal object.

Returns:: TorqueCurrent Status Signal Object
Return type:: StatusSignal[ampere]

get_stator_current() → phoenix6.status_signal.StatusSignal[phoenix6.units.ampere]#

Current corresponding to the stator windings. Similar to TorqueCurrent. Users will likely prefer TorqueCurrent over StatorCurrent.

Stator current where Positive current indicates motoring regardless of direction. Negative current indicates regenerative braking regardless of direction.

Default Rates:

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

This refreshes and returns a cached StatusSignal object.

Returns:: StatorCurrent Status Signal Object
Return type:: StatusSignal[ampere]

get_supply_current() → phoenix6.status_signal.StatusSignal[phoenix6.units.ampere]#

Measured supply side current

Default Rates:

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

This refreshes and returns a cached StatusSignal object.

Returns:: SupplyCurrent Status Signal Object
Return type:: StatusSignal[ampere]

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

Measured supply voltage to the TalonFX.

Default Rates:

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

This refreshes and returns a cached StatusSignal object.

Returns:: SupplyVoltage Status Signal Object
Return type:: StatusSignal[volt]

get_device_temp() → phoenix6.status_signal.StatusSignal[phoenix6.units.celsius]#

Temperature of device

This is the temperature that the device measures itself to be at. Similar to Processor Temperature.

Default Rates:

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

This refreshes and returns a cached StatusSignal object.

Returns:: DeviceTemp Status Signal Object
Return type:: StatusSignal[celsius]

get_processor_temp() → phoenix6.status_signal.StatusSignal[phoenix6.units.celsius]#

Temperature of the processor

This is the temperature that the processor measures itself to be at. Similar to Device Temperature.

Default Rates:

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

This refreshes and returns a cached StatusSignal object.

Returns:: ProcessorTemp Status Signal Object
Return type:: StatusSignal[celsius]

get_rotor_velocity() → phoenix6.status_signal.StatusSignal[phoenix6.units.rotations_per_second]#

Velocity of the motor rotor. This velocity is not affected by any feedback configs.

Default Rates:

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

This refreshes and returns a cached StatusSignal object.

Returns:: RotorVelocity Status Signal Object
Return type:: StatusSignal[rotations_per_second]

get_rotor_position() → phoenix6.status_signal.StatusSignal[phoenix6.units.rotation]#

Position of the motor rotor. This position is only affected by the RotorOffset config and calls to setPosition.

Default Rates:

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

This refreshes and returns a cached StatusSignal object.

Returns:: RotorPosition Status Signal Object
Return type:: StatusSignal[rotation]

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

Velocity of the device in mechanism rotations per second. This can be the velocity of a remote sensor and is affected by the RotorToSensorRatio and SensorToMechanismRatio configs.

Default Rates:

CAN 2.0: 50.0 Hz
CAN FD: 100.0 Hz (TimeSynced with Pro)

This refreshes and returns a cached StatusSignal object.

Returns:: Velocity Status Signal Object
Return type:: StatusSignal[rotations_per_second]

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

Position of the device in mechanism rotations. This can be the position of a remote sensor and is affected by the RotorToSensorRatio and SensorToMechanismRatio configs, as well as calls to setPosition.

Default Rates:

CAN 2.0: 50.0 Hz
CAN FD: 100.0 Hz (TimeSynced with Pro)

This refreshes and returns a cached StatusSignal object.

Returns:: Position Status Signal Object
Return type:: StatusSignal[rotation]

get_acceleration() → phoenix6.status_signal.StatusSignal[phoenix6.units.rotations_per_second_squared]#

Acceleration of the device in mechanism rotations per second². This can be the acceleration of a remote sensor and is affected by the RotorToSensorRatio and SensorToMechanismRatio configs.

Default Rates:

CAN 2.0: 50.0 Hz
CAN FD: 100.0 Hz (TimeSynced with Pro)

This refreshes and returns a cached StatusSignal object.

Returns:: Acceleration Status Signal Object
Return type:: StatusSignal[rotations_per_second_squared]

get_control_mode() → phoenix6.status_signal.StatusSignal[phoenix6.signals.spn_enums.ControlModeValue]#

The active control mode of the motor controller

Default Rates:

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

This refreshes and returns a cached StatusSignal object.

Returns:: ControlMode Status Signal Object
Return type:: StatusSignal[ControlModeValue]

get_motion_magic_is_running() → phoenix6.status_signal.StatusSignal[phoenix6.signals.spn_enums.MotionMagicIsRunningValue]#

Check if Motion Magic® is running. This is equivalent to checking that the reported control mode is a Motion Magic® based mode.

Default Rates:

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

This refreshes and returns a cached StatusSignal object.

Returns:: MotionMagicIsRunning Status Signal Object
Return type:: StatusSignal[MotionMagicIsRunningValue]

get_device_enable() → phoenix6.status_signal.StatusSignal[phoenix6.signals.spn_enums.DeviceEnableValue]#

Indicates if device is actuator enabled.

Default Rates:

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

This refreshes and returns a cached StatusSignal object.

Returns:: DeviceEnable Status Signal Object
Return type:: StatusSignal[DeviceEnableValue]

get_closed_loop_slot() → phoenix6.status_signal.StatusSignal[int]#

Closed loop slot in use

This is the slot that the closed loop PID is using.

Default Rates:

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

This refreshes and returns a cached StatusSignal object.

Returns:: ClosedLoopSlot Status Signal Object
Return type:: StatusSignal[int]

get_differential_control_mode() → phoenix6.status_signal.StatusSignal[phoenix6.signals.spn_enums.DifferentialControlModeValue]#

The active control mode of the differential controller

Default Rates:

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

This refreshes and returns a cached StatusSignal object.

Returns:: DifferentialControlMode Status Signal Object
Return type:: StatusSignal[DifferentialControlModeValue]

get_differential_average_velocity() → phoenix6.status_signal.StatusSignal[phoenix6.units.rotations_per_second]#

Average component of the differential velocity of device.

Default Rates:

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

This refreshes and returns a cached StatusSignal object.

Returns:: DifferentialAverageVelocity Status Signal Object
Return type:: StatusSignal[rotations_per_second]

get_differential_average_position() → phoenix6.status_signal.StatusSignal[phoenix6.units.rotation]#

Average component of the differential position of device.

Default Rates:

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

This refreshes and returns a cached StatusSignal object.

Returns:: DifferentialAveragePosition Status Signal Object
Return type:: StatusSignal[rotation]

get_differential_difference_velocity() → phoenix6.status_signal.StatusSignal[phoenix6.units.rotations_per_second]#

Difference component of the differential velocity of device.

Default Rates:

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

This refreshes and returns a cached StatusSignal object.

Returns:: DifferentialDifferenceVelocity Status Signal Object
Return type:: StatusSignal[rotations_per_second]

get_differential_difference_position() → phoenix6.status_signal.StatusSignal[phoenix6.units.rotation]#

Difference component of the differential position of device.

Default Rates:

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

This refreshes and returns a cached StatusSignal object.

Returns:: DifferentialDifferencePosition Status Signal Object
Return type:: StatusSignal[rotation]

get_differential_closed_loop_slot() → phoenix6.status_signal.StatusSignal[int]#

Differential Closed loop slot in use

This is the slot that the closed loop differential PID is using.

Default Rates:

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

This refreshes and returns a cached StatusSignal object.

Returns:: DifferentialClosedLoopSlot Status Signal Object
Return type:: StatusSignal[int]

get_bridge_output() → phoenix6.status_signal.StatusSignal[phoenix6.signals.spn_enums.BridgeOutputValue]#

The applied output of the bridge.

Default Rates:

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

This refreshes and returns a cached StatusSignal object.

Returns:: BridgeOutput Status Signal Object
Return type:: StatusSignal[BridgeOutputValue]

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

Whether the device is Phoenix Pro licensed.

Default Rates:

CAN: 4.0 Hz

This refreshes and returns a cached StatusSignal object.

Returns:: IsProLicensed Status Signal Object
Return type:: StatusSignal[bool]

get_ancillary_device_temp() → phoenix6.status_signal.StatusSignal[phoenix6.units.celsius]#

Temperature of device from second sensor

Newer versions of Talon FX have multiple temperature measurement methods.

Default Rates:

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

This refreshes and returns a cached StatusSignal object.

Returns:: AncillaryDeviceTemp Status Signal Object
Return type:: StatusSignal[celsius]

get_motor_type() → phoenix6.status_signal.StatusSignal[phoenix6.signals.spn_enums.MotorTypeValue]#

The type of motor attached to the Talon FX

This can be used to determine what motor is attached to the Talon FX. Return will be “Unknown” if firmware is too old or device is not present.

Default Rates:

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

This refreshes and returns a cached StatusSignal object.

Returns:: MotorType Status Signal Object
Return type:: StatusSignal[MotorTypeValue]

get_motor_output_status() → phoenix6.status_signal.StatusSignal[phoenix6.signals.spn_enums.MotorOutputStatusValue]#

Assess the status of the motor output with respect to load and supply.

This routine can be used to determine the general status of motor commutation. Off means that motor output is disabled. StaticBraking typically means the motor is in neutral-brake. Motoring means motor is loaded in a typical fashion, drawing current from the supply, and successfully turning the rotor in the direction of applied voltage. Discordant Motoring is the same as Motoring, expect the rotor is being backdriven as the motor output is not enough to defeat load forces. RegenBraking means the motor is braking in such a way where motor current is traveling back to the supply (typically a battery).

Default Rates:

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

This refreshes and returns a cached StatusSignal object.

Returns:: MotorOutputStatus Status Signal Object
Return type:: StatusSignal[MotorOutputStatusValue]

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

Hardware fault occurred

Default Rates:

CAN: 4.0 Hz

This refreshes and returns a cached StatusSignal object.

Returns:: Fault_Hardware Status Signal Object
Return type:: StatusSignal[bool]

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

Hardware fault occurred

Default Rates:

CAN: 4.0 Hz

This refreshes and returns a cached StatusSignal object.

Returns:: StickyFault_Hardware Status Signal Object
Return type:: StatusSignal[bool]

get_fault_proc_temp() → phoenix6.status_signal.StatusSignal[bool]#

Processor temperature exceeded limit

Default Rates:

CAN: 4.0 Hz

This refreshes and returns a cached StatusSignal object.

Returns:: Fault_ProcTemp Status Signal Object
Return type:: StatusSignal[bool]

get_sticky_fault_proc_temp() → phoenix6.status_signal.StatusSignal[bool]#

Processor temperature exceeded limit

Default Rates:

CAN: 4.0 Hz

This refreshes and returns a cached StatusSignal object.

Returns:: StickyFault_ProcTemp Status Signal Object
Return type:: StatusSignal[bool]

get_fault_device_temp() → phoenix6.status_signal.StatusSignal[bool]#

Device temperature exceeded limit

Default Rates:

CAN: 4.0 Hz

This refreshes and returns a cached StatusSignal object.

Returns:: Fault_DeviceTemp Status Signal Object
Return type:: StatusSignal[bool]

get_sticky_fault_device_temp() → phoenix6.status_signal.StatusSignal[bool]#

Device temperature exceeded limit

Default Rates:

CAN: 4.0 Hz

This refreshes and returns a cached StatusSignal object.

Returns:: StickyFault_DeviceTemp Status Signal Object
Return type:: StatusSignal[bool]

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

Device supply voltage dropped to near brownout levels

Default Rates:

CAN: 4.0 Hz

This refreshes and returns a cached StatusSignal object.

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 Rates:

CAN: 4.0 Hz

This refreshes and returns a cached StatusSignal object.

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 Rates:

CAN: 4.0 Hz

This refreshes and returns a cached StatusSignal object.

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 Rates:

CAN: 4.0 Hz

This refreshes and returns a cached StatusSignal object.

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 Rates:

CAN: 4.0 Hz

This refreshes and returns a cached StatusSignal object.

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 Rates:

CAN: 4.0 Hz

This refreshes and returns a cached StatusSignal object.

Returns:: StickyFault_UnlicensedFeatureInUse Status Signal Object
Return type:: StatusSignal[bool]

get_fault_bridge_brownout() → phoenix6.status_signal.StatusSignal[bool]#

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

Default Rates:

CAN: 4.0 Hz

This refreshes and returns a cached StatusSignal object.

Returns:: Fault_BridgeBrownout Status Signal Object
Return type:: StatusSignal[bool]

get_sticky_fault_bridge_brownout() → phoenix6.status_signal.StatusSignal[bool]#

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

Default Rates:

CAN: 4.0 Hz

This refreshes and returns a cached StatusSignal object.

Returns:: StickyFault_BridgeBrownout Status Signal Object
Return type:: StatusSignal[bool]

get_fault_remote_sensor_reset() → phoenix6.status_signal.StatusSignal[bool]#

The remote sensor has reset.

Default Rates:

CAN: 4.0 Hz

This refreshes and returns a cached StatusSignal object.

Returns:: Fault_RemoteSensorReset Status Signal Object
Return type:: StatusSignal[bool]

get_sticky_fault_remote_sensor_reset() → phoenix6.status_signal.StatusSignal[bool]#

The remote sensor has reset.

Default Rates:

CAN: 4.0 Hz

This refreshes and returns a cached StatusSignal object.

Returns:: StickyFault_RemoteSensorReset Status Signal Object
Return type:: StatusSignal[bool]

get_fault_missing_differential_fx() → phoenix6.status_signal.StatusSignal[bool]#

The remote Talon FX used for differential control is not present on CAN Bus.

Default Rates:

CAN: 4.0 Hz

This refreshes and returns a cached StatusSignal object.

Returns:: Fault_MissingDifferentialFX Status Signal Object
Return type:: StatusSignal[bool]

get_sticky_fault_missing_differential_fx() → phoenix6.status_signal.StatusSignal[bool]#

The remote Talon FX used for differential control is not present on CAN Bus.

Default Rates:

CAN: 4.0 Hz

This refreshes and returns a cached StatusSignal object.

Returns:: StickyFault_MissingDifferentialFX Status Signal Object
Return type:: StatusSignal[bool]

get_fault_remote_sensor_pos_overflow() → phoenix6.status_signal.StatusSignal[bool]#

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

Default Rates:

CAN: 4.0 Hz

This refreshes and returns a cached StatusSignal object.

Returns:: Fault_RemoteSensorPosOverflow Status Signal Object
Return type:: StatusSignal[bool]

get_sticky_fault_remote_sensor_pos_overflow() → phoenix6.status_signal.StatusSignal[bool]#

Default Rates:

CAN: 4.0 Hz

This refreshes and returns a cached StatusSignal object.

Returns:: StickyFault_RemoteSensorPosOverflow Status Signal Object
Return type:: StatusSignal[bool]

get_fault_over_supply_v() → phoenix6.status_signal.StatusSignal[bool]#

Supply Voltage has exceeded the maximum voltage rating of device.

Default Rates:

CAN: 4.0 Hz

This refreshes and returns a cached StatusSignal object.

Returns:: Fault_OverSupplyV Status Signal Object
Return type:: StatusSignal[bool]

get_sticky_fault_over_supply_v() → phoenix6.status_signal.StatusSignal[bool]#

Supply Voltage has exceeded the maximum voltage rating of device.

Default Rates:

CAN: 4.0 Hz

This refreshes and returns a cached StatusSignal object.

Returns:: StickyFault_OverSupplyV Status Signal Object
Return type:: StatusSignal[bool]

get_fault_unstable_supply_v() → phoenix6.status_signal.StatusSignal[bool]#

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

Default Rates:

CAN: 4.0 Hz

This refreshes and returns a cached StatusSignal object.

Returns:: Fault_UnstableSupplyV Status Signal Object
Return type:: StatusSignal[bool]

get_sticky_fault_unstable_supply_v() → phoenix6.status_signal.StatusSignal[bool]#

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

Default Rates:

CAN: 4.0 Hz

This refreshes and returns a cached StatusSignal object.

Returns:: StickyFault_UnstableSupplyV Status Signal Object
Return type:: StatusSignal[bool]

get_fault_reverse_hard_limit() → phoenix6.status_signal.StatusSignal[bool]#

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

Default Rates:

CAN: 4.0 Hz

This refreshes and returns a cached StatusSignal object.

Returns:: Fault_ReverseHardLimit Status Signal Object
Return type:: StatusSignal[bool]

get_sticky_fault_reverse_hard_limit() → phoenix6.status_signal.StatusSignal[bool]#

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

Default Rates:

CAN: 4.0 Hz

This refreshes and returns a cached StatusSignal object.

Returns:: StickyFault_ReverseHardLimit Status Signal Object
Return type:: StatusSignal[bool]

get_fault_forward_hard_limit() → phoenix6.status_signal.StatusSignal[bool]#

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

Default Rates:

CAN: 4.0 Hz

This refreshes and returns a cached StatusSignal object.

Returns:: Fault_ForwardHardLimit Status Signal Object
Return type:: StatusSignal[bool]

get_sticky_fault_forward_hard_limit() → phoenix6.status_signal.StatusSignal[bool]#

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

Default Rates:

CAN: 4.0 Hz

This refreshes and returns a cached StatusSignal object.

Returns:: StickyFault_ForwardHardLimit Status Signal Object
Return type:: StatusSignal[bool]

get_fault_reverse_soft_limit() → phoenix6.status_signal.StatusSignal[bool]#

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

Default Rates:

CAN: 4.0 Hz

This refreshes and returns a cached StatusSignal object.

Returns:: Fault_ReverseSoftLimit Status Signal Object
Return type:: StatusSignal[bool]

get_sticky_fault_reverse_soft_limit() → phoenix6.status_signal.StatusSignal[bool]#

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

Default Rates:

CAN: 4.0 Hz

This refreshes and returns a cached StatusSignal object.

Returns:: StickyFault_ReverseSoftLimit Status Signal Object
Return type:: StatusSignal[bool]

get_fault_forward_soft_limit() → phoenix6.status_signal.StatusSignal[bool]#

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

Default Rates:

CAN: 4.0 Hz

This refreshes and returns a cached StatusSignal object.

Returns:: Fault_ForwardSoftLimit Status Signal Object
Return type:: StatusSignal[bool]

get_sticky_fault_forward_soft_limit() → phoenix6.status_signal.StatusSignal[bool]#

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

Default Rates:

CAN: 4.0 Hz

This refreshes and returns a cached StatusSignal object.

Returns:: StickyFault_ForwardSoftLimit Status Signal Object
Return type:: StatusSignal[bool]

get_fault_remote_sensor_data_invalid() → phoenix6.status_signal.StatusSignal[bool]#

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

Default Rates:

CAN: 4.0 Hz

This refreshes and returns a cached StatusSignal object.

Returns:: Fault_RemoteSensorDataInvalid Status Signal Object
Return type:: StatusSignal[bool]

get_sticky_fault_remote_sensor_data_invalid() → phoenix6.status_signal.StatusSignal[bool]#

Default Rates:

CAN: 4.0 Hz

This refreshes and returns a cached StatusSignal object.

Returns:: StickyFault_RemoteSensorDataInvalid Status Signal Object
Return type:: StatusSignal[bool]

get_fault_fused_sensor_out_of_sync() → phoenix6.status_signal.StatusSignal[bool]#

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

Default Rates:

CAN: 4.0 Hz

This refreshes and returns a cached StatusSignal object.

Returns:: Fault_FusedSensorOutOfSync Status Signal Object
Return type:: StatusSignal[bool]

get_sticky_fault_fused_sensor_out_of_sync() → phoenix6.status_signal.StatusSignal[bool]#

Default Rates:

CAN: 4.0 Hz

This refreshes and returns a cached StatusSignal object.

Returns:: StickyFault_FusedSensorOutOfSync Status Signal Object
Return type:: StatusSignal[bool]

get_fault_stator_curr_limit() → phoenix6.status_signal.StatusSignal[bool]#

Stator current limit occured.

Default Rates:

CAN: 4.0 Hz

This refreshes and returns a cached StatusSignal object.

Returns:: Fault_StatorCurrLimit Status Signal Object
Return type:: StatusSignal[bool]

get_sticky_fault_stator_curr_limit() → phoenix6.status_signal.StatusSignal[bool]#

Stator current limit occured.

Default Rates:

CAN: 4.0 Hz

This refreshes and returns a cached StatusSignal object.

Returns:: StickyFault_StatorCurrLimit Status Signal Object
Return type:: StatusSignal[bool]

get_fault_supply_curr_limit() → phoenix6.status_signal.StatusSignal[bool]#

Supply current limit occured.

Default Rates:

CAN: 4.0 Hz

This refreshes and returns a cached StatusSignal object.

Returns:: Fault_SupplyCurrLimit Status Signal Object
Return type:: StatusSignal[bool]

get_sticky_fault_supply_curr_limit() → phoenix6.status_signal.StatusSignal[bool]#

Supply current limit occured.

Default Rates:

CAN: 4.0 Hz

This refreshes and returns a cached StatusSignal object.

Returns:: StickyFault_SupplyCurrLimit Status Signal Object
Return type:: StatusSignal[bool]

get_fault_using_fused_ca_ncoder_while_unlicensed() → phoenix6.status_signal.StatusSignal[bool]#

Using Fused CANcoder feature while unlicensed. Device has fallen back to remote CANcoder.

Default Rates:

CAN: 4.0 Hz

This refreshes and returns a cached StatusSignal object.

Returns:: Fault_UsingFusedCANcoderWhileUnlicensed Status Signal Object
Return type:: StatusSignal[bool]

get_sticky_fault_using_fused_ca_ncoder_while_unlicensed() → phoenix6.status_signal.StatusSignal[bool]#

Using Fused CANcoder feature while unlicensed. Device has fallen back to remote CANcoder.

Default Rates:

CAN: 4.0 Hz

This refreshes and returns a cached StatusSignal object.

Returns:: StickyFault_UsingFusedCANcoderWhileUnlicensed Status Signal Object
Return type:: StatusSignal[bool]

get_fault_static_brake_disabled() → phoenix6.status_signal.StatusSignal[bool]#

Static brake was momentarily disabled due to excessive braking current while disabled.

Default Rates:

CAN: 4.0 Hz

This refreshes and returns a cached StatusSignal object.

Returns:: Fault_StaticBrakeDisabled Status Signal Object
Return type:: StatusSignal[bool]

get_sticky_fault_static_brake_disabled() → phoenix6.status_signal.StatusSignal[bool]#

Static brake was momentarily disabled due to excessive braking current while disabled.

Default Rates:

CAN: 4.0 Hz

This refreshes and returns a cached StatusSignal object.

Returns:: StickyFault_StaticBrakeDisabled Status Signal Object
Return type:: StatusSignal[bool]

get_closed_loop_proportional_output() → phoenix6.status_signal.StatusSignal[float]#

Closed loop proportional component

The portion of the closed loop output that is the proportional to the error. Alternatively, the p-Contribution of the closed loop output.

Default Rates:

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

This refreshes and returns a cached StatusSignal object.

Returns:: ClosedLoopProportionalOutput Status Signal object

get_closed_loop_integrated_output() → phoenix6.status_signal.StatusSignal[float]#

Closed loop integrated component

The portion of the closed loop output that is proportional to the integrated error. Alternatively, the i-Contribution of the closed loop output.

Default Rates:

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

This refreshes and returns a cached StatusSignal object.

Returns:: ClosedLoopIntegratedOutput Status Signal object

get_closed_loop_feed_forward() → phoenix6.status_signal.StatusSignal[float]#

Feedforward passed by the user

This is the general feedforward that the user provides for the closed loop.

Default Rates:

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

This refreshes and returns a cached StatusSignal object.

Returns:: ClosedLoopFeedForward Status Signal object

get_closed_loop_derivative_output() → phoenix6.status_signal.StatusSignal[float]#

Closed loop derivative component

The portion of the closed loop output that is the proportional to the deriviative the error. Alternatively, the d-Contribution of the closed loop output.

Default Rates:

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

This refreshes and returns a cached StatusSignal object.

Returns:: ClosedLoopDerivativeOutput Status Signal object

get_closed_loop_output() → phoenix6.status_signal.StatusSignal[float]#

Closed loop total output

The total output of the closed loop output.

Default Rates:

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

This refreshes and returns a cached StatusSignal object.

Returns:: ClosedLoopOutput Status Signal object

get_closed_loop_reference() → phoenix6.status_signal.StatusSignal[float]#

Value that the closed loop is targeting

This is the value that the closed loop PID controller targets.

Default Rates:

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

This refreshes and returns a cached StatusSignal object.

Returns:: ClosedLoopReference Status Signal object

get_closed_loop_reference_slope() → phoenix6.status_signal.StatusSignal[float]#

Derivative of the target that the closed loop is targeting

This is the change in the closed loop reference. This may be used in the feed-forward calculation, the derivative-error, or in application of the signage for kS. Typically, this represents the target velocity during Motion Magic®.

Default Rates:

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

This refreshes and returns a cached StatusSignal object.

Returns:: ClosedLoopReferenceSlope Status Signal object

get_closed_loop_error() → phoenix6.status_signal.StatusSignal[float]#

The difference between target reference and current measurement

This is the value that is treated as the error in the PID loop.

Default Rates:

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

This refreshes and returns a cached StatusSignal object.

Returns:: ClosedLoopError Status Signal object

get_differential_output() → phoenix6.status_signal.StatusSignal[float]#

The calculated motor output for differential followers.

This is a torque request when using the TorqueCurrentFOC control output type, and a duty cycle in all other control types.

Default Rates:

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

This refreshes and returns a cached StatusSignal object.

Returns:: DifferentialOutput Status Signal object

get_differential_closed_loop_proportional_output() → phoenix6.status_signal.StatusSignal[float]#

Differential closed loop proportional component

The portion of the differential closed loop output that is the proportional to the error. Alternatively, the p-Contribution of the closed loop output.

Default Rates:

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

This refreshes and returns a cached StatusSignal object.

Returns:: DifferentialClosedLoopProportionalOutput Status Signal object

get_differential_closed_loop_integrated_output() → phoenix6.status_signal.StatusSignal[float]#

Differential closed loop integrated component

The portion of the differential closed loop output that is proportional to the integrated error. Alternatively, the i-Contribution of the closed loop output.

Default Rates:

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

This refreshes and returns a cached StatusSignal object.

Returns:: DifferentialClosedLoopIntegratedOutput Status Signal object

get_differential_closed_loop_feed_forward() → phoenix6.status_signal.StatusSignal[float]#

Differential Feedforward passed by the user

This is the general feedforward that the user provides for the differential closed loop.

Default Rates:

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

This refreshes and returns a cached StatusSignal object.

Returns:: DifferentialClosedLoopFeedForward Status Signal object

get_differential_closed_loop_derivative_output() → phoenix6.status_signal.StatusSignal[float]#

Differential closed loop derivative component

The portion of the differential closed loop output that is the proportional to the deriviative the error. Alternatively, the d-Contribution of the closed loop output.

Default Rates:

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

This refreshes and returns a cached StatusSignal object.

Returns:: DifferentialClosedLoopDerivativeOutput Status Signal object

get_differential_closed_loop_output() → phoenix6.status_signal.StatusSignal[float]#

Differential closed loop total output

The total output of the differential closed loop output.

Default Rates:

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

This refreshes and returns a cached StatusSignal object.

Returns:: DifferentialClosedLoopOutput Status Signal object

get_differential_closed_loop_reference() → phoenix6.status_signal.StatusSignal[float]#

Value that the differential closed loop is targeting

This is the value that the differential closed loop PID controller targets.

Default Rates:

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

This refreshes and returns a cached StatusSignal object.

Returns:: DifferentialClosedLoopReference Status Signal object

get_differential_closed_loop_reference_slope() → phoenix6.status_signal.StatusSignal[float]#

Derivative of the target that the differential closed loop is targeting

Default Rates:

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

This refreshes and returns a cached StatusSignal object.

Returns:: DifferentialClosedLoopReferenceSlope Status Signal object

get_differential_closed_loop_error() → phoenix6.status_signal.StatusSignal[float]#

The difference between target differential reference and current measurement

This is the value that is treated as the error in the differential PID loop.

Default Rates:

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

This refreshes and returns a cached StatusSignal object.

Returns:: DifferentialClosedLoopError Status Signal object

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 mechanism position of the device in mechanism rotations.

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_proc_temp(timeout_seconds: phoenix6.units.second = 0.05) → phoenix6.status_signal.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_signal.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_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_bridge_brownout(timeout_seconds: phoenix6.units.second = 0.05) → phoenix6.status_signal.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_signal.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_signal.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_signal.StatusCode#

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

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_signal.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_signal.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_signal.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_signal.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_signal.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_signal.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_signal.StatusCode#

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

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_signal.StatusCode#

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

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_signal.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_signal.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.hardware.core.core_talon_fx#

Module Contents#

`phoenix6.hardware.core.core_talon_fx`#