`phoenix6.hardware.core`¶

Submodules¶

Package Contents¶

class phoenix6.hardware.core.CoreTalonFX(device_id: int, canbus: str | phoenix6.canbus.CANBus = '')¶

Bases: phoenix6.hardware.parent_device.ParentDevice, phoenix6.hardware.traits.common_talon_with_foc.CommonTalonWithFOC

Constructs a new Talon FX motor controller object.

Parameters:

device_id (int) – ID of the device, as configured in Phoenix Tuner.
canbus (str | CANBus, 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(refresh: bool = True) → phoenix6.status_signal.StatusSignal[int]¶

App Major Version number.

Default Rates:

CAN: 4.0 Hz

This refreshes and returns a cached StatusSignal object.

Parameters:: refresh (bool) – Whether to refresh the StatusSignal before returning it; defaults to true
Returns:: VersionMajor Status Signal Object
Return type:: StatusSignal[int]

get_version_minor(refresh: bool = True) → phoenix6.status_signal.StatusSignal[int]¶

App Minor Version number.

Default Rates:

CAN: 4.0 Hz

This refreshes and returns a cached StatusSignal object.

Parameters:: refresh (bool) – Whether to refresh the StatusSignal before returning it; defaults to true
Returns:: VersionMinor Status Signal Object
Return type:: StatusSignal[int]

get_version_bugfix(refresh: bool = True) → phoenix6.status_signal.StatusSignal[int]¶

App Bugfix Version number.

Default Rates:

CAN: 4.0 Hz

This refreshes and returns a cached StatusSignal object.

Parameters:: refresh (bool) – Whether to refresh the StatusSignal before returning it; defaults to true
Returns:: VersionBugfix Status Signal Object
Return type:: StatusSignal[int]

get_version_build(refresh: bool = True) → phoenix6.status_signal.StatusSignal[int]¶

App Build Version number.

Default Rates:

CAN: 4.0 Hz

This refreshes and returns a cached StatusSignal object.

Parameters:: refresh (bool) – Whether to refresh the StatusSignal before returning it; defaults to true
Returns:: VersionBuild Status Signal Object
Return type:: StatusSignal[int]

get_version(refresh: bool = True) → phoenix6.status_signal.StatusSignal[int]¶

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.

Parameters:: refresh (bool) – Whether to refresh the StatusSignal before returning it; defaults to true
Returns:: Version Status Signal Object
Return type:: StatusSignal[int]

get_fault_field(refresh: bool = True) → phoenix6.status_signal.StatusSignal[int]¶

Integer representing all 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.

Parameters:: refresh (bool) – Whether to refresh the StatusSignal before returning it; defaults to true
Returns:: FaultField Status Signal Object
Return type:: StatusSignal[int]

get_sticky_fault_field(refresh: bool = True) → phoenix6.status_signal.StatusSignal[int]¶

Integer representing all (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.

Parameters:: refresh (bool) – Whether to refresh the StatusSignal before returning it; defaults to true
Returns:: StickyFaultField Status Signal Object
Return type:: StatusSignal[int]

get_motor_voltage(refresh: bool = True) → 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.

Parameters:: refresh (bool) – Whether to refresh the StatusSignal before returning it; defaults to true
Returns:: MotorVoltage Status Signal Object
Return type:: StatusSignal[volt]

get_forward_limit(refresh: bool = True) → 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.

Parameters:: refresh (bool) – Whether to refresh the StatusSignal before returning it; defaults to true
Returns:: ForwardLimit Status Signal Object
Return type:: StatusSignal[ForwardLimitValue]

get_reverse_limit(refresh: bool = True) → 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.

Parameters:: refresh (bool) – Whether to refresh the StatusSignal before returning it; defaults to true
Returns:: ReverseLimit Status Signal Object
Return type:: StatusSignal[ReverseLimitValue]

get_applied_rotor_polarity(refresh: bool = True) → phoenix6.status_signal.StatusSignal[phoenix6.signals.spn_enums.AppliedRotorPolarityValue]¶

The applied rotor polarity as seen from the front of the motor. 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.

Parameters:: refresh (bool) – Whether to refresh the StatusSignal before returning it; defaults to true
Returns:: AppliedRotorPolarity Status Signal Object
Return type:: StatusSignal[AppliedRotorPolarityValue]

get_duty_cycle(refresh: bool = True) → 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.

Parameters:: refresh (bool) – Whether to refresh the StatusSignal before returning it; defaults to true
Returns:: DutyCycle Status Signal Object
Return type:: StatusSignal[float]

get_torque_current(refresh: bool = True) → 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.

Parameters:: refresh (bool) – Whether to refresh the StatusSignal before returning it; defaults to true
Returns:: TorqueCurrent Status Signal Object
Return type:: StatusSignal[ampere]

get_stator_current(refresh: bool = True) → 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.

Parameters:: refresh (bool) – Whether to refresh the StatusSignal before returning it; defaults to true
Returns:: StatorCurrent Status Signal Object
Return type:: StatusSignal[ampere]

get_supply_current(refresh: bool = True) → 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.

Parameters:: refresh (bool) – Whether to refresh the StatusSignal before returning it; defaults to true
Returns:: SupplyCurrent Status Signal Object
Return type:: StatusSignal[ampere]

get_supply_voltage(refresh: bool = True) → phoenix6.status_signal.StatusSignal[phoenix6.units.volt]¶

Measured supply voltage to the 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.

Parameters:: refresh (bool) – Whether to refresh the StatusSignal before returning it; defaults to true
Returns:: SupplyVoltage Status Signal Object
Return type:: StatusSignal[volt]

get_device_temp(refresh: bool = True) → 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.

Parameters:: refresh (bool) – Whether to refresh the StatusSignal before returning it; defaults to true
Returns:: DeviceTemp Status Signal Object
Return type:: StatusSignal[celsius]

get_processor_temp(refresh: bool = True) → 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.

Parameters:: refresh (bool) – Whether to refresh the StatusSignal before returning it; defaults to true
Returns:: ProcessorTemp Status Signal Object
Return type:: StatusSignal[celsius]

get_rotor_velocity(refresh: bool = True) → 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.

Parameters:: refresh (bool) – Whether to refresh the StatusSignal before returning it; defaults to true
Returns:: RotorVelocity Status Signal Object
Return type:: StatusSignal[rotations_per_second]

get_rotor_position(refresh: bool = True) → 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.

Parameters:: refresh (bool) – Whether to refresh the StatusSignal before returning it; defaults to true
Returns:: RotorPosition Status Signal Object
Return type:: StatusSignal[rotation]

get_velocity(refresh: bool = True) → 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.

Parameters:: refresh (bool) – Whether to refresh the StatusSignal before returning it; defaults to true
Returns:: Velocity Status Signal Object
Return type:: StatusSignal[rotations_per_second]

get_position(refresh: bool = True) → 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.

Parameters:: refresh (bool) – Whether to refresh the StatusSignal before returning it; defaults to true
Returns:: Position Status Signal Object
Return type:: StatusSignal[rotation]

get_acceleration(refresh: bool = True) → 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.

Parameters:: refresh (bool) – Whether to refresh the StatusSignal before returning it; defaults to true
Returns:: Acceleration Status Signal Object
Return type:: StatusSignal[rotations_per_second_squared]

get_control_mode(refresh: bool = True) → 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.

Parameters:: refresh (bool) – Whether to refresh the StatusSignal before returning it; defaults to true
Returns:: ControlMode Status Signal Object
Return type:: StatusSignal[ControlModeValue]

get_motion_magic_is_running(refresh: bool = True) → 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.

Parameters:: refresh (bool) – Whether to refresh the StatusSignal before returning it; defaults to true
Returns:: MotionMagicIsRunning Status Signal Object
Return type:: StatusSignal[MotionMagicIsRunningValue]

get_device_enable(refresh: bool = True) → 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.

Parameters:: refresh (bool) – Whether to refresh the StatusSignal before returning it; defaults to true
Returns:: DeviceEnable Status Signal Object
Return type:: StatusSignal[DeviceEnableValue]

get_closed_loop_slot(refresh: bool = True) → phoenix6.status_signal.StatusSignal[int]¶

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.

Parameters:: refresh (bool) – Whether to refresh the StatusSignal before returning it; defaults to true
Returns:: ClosedLoopSlot Status Signal Object
Return type:: StatusSignal[int]

get_motor_output_status(refresh: bool = True) → 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.

Default Rates:

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

This refreshes and returns a cached StatusSignal object.

Parameters:: refresh (bool) – Whether to refresh the StatusSignal before returning it; defaults to true
Returns:: MotorOutputStatus Status Signal Object
Return type:: StatusSignal[MotorOutputStatusValue]

get_differential_control_mode(refresh: bool = True) → 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.

Parameters:: refresh (bool) – Whether to refresh the StatusSignal before returning it; defaults to true
Returns:: DifferentialControlMode Status Signal Object
Return type:: StatusSignal[DifferentialControlModeValue]

get_differential_average_velocity(refresh: bool = True) → 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.

Parameters:: refresh (bool) – Whether to refresh the StatusSignal before returning it; defaults to true
Returns:: DifferentialAverageVelocity Status Signal Object
Return type:: StatusSignal[rotations_per_second]

get_differential_average_position(refresh: bool = True) → 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.

Parameters:: refresh (bool) – Whether to refresh the StatusSignal before returning it; defaults to true
Returns:: DifferentialAveragePosition Status Signal Object
Return type:: StatusSignal[rotation]

get_differential_difference_velocity(refresh: bool = True) → 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.

Parameters:: refresh (bool) – Whether to refresh the StatusSignal before returning it; defaults to true
Returns:: DifferentialDifferenceVelocity Status Signal Object
Return type:: StatusSignal[rotations_per_second]

get_differential_difference_position(refresh: bool = True) → 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.

Parameters:: refresh (bool) – Whether to refresh the StatusSignal before returning it; defaults to true
Returns:: DifferentialDifferencePosition Status Signal Object
Return type:: StatusSignal[rotation]

get_differential_closed_loop_slot(refresh: bool = True) → phoenix6.status_signal.StatusSignal[int]¶

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.

Parameters:: refresh (bool) – Whether to refresh the StatusSignal before returning it; defaults to true
Returns:: DifferentialClosedLoopSlot Status Signal Object
Return type:: StatusSignal[int]

get_motor_kt(refresh: bool = True) → phoenix6.status_signal.StatusSignal[phoenix6.units.newton_meters_per_ampere]¶

The torque constant (K_T) of the motor.

Default Rates:

CAN: 4.0 Hz

This refreshes and returns a cached StatusSignal object.

Parameters:: refresh (bool) – Whether to refresh the StatusSignal before returning it; defaults to true
Returns:: MotorKT Status Signal Object
Return type:: StatusSignal[newton_meters_per_ampere]

get_motor_kv(refresh: bool = True) → phoenix6.status_signal.StatusSignal[phoenix6.units.rpm_per_volt]¶

The velocity constant (K_V) of the motor.

Default Rates:

CAN: 4.0 Hz

This refreshes and returns a cached StatusSignal object.

Parameters:: refresh (bool) – Whether to refresh the StatusSignal before returning it; defaults to true
Returns:: MotorKV Status Signal Object
Return type:: StatusSignal[rpm_per_volt]

get_motor_stall_current(refresh: bool = True) → phoenix6.status_signal.StatusSignal[phoenix6.units.ampere]¶

The stall current of the motor at 12 V output.

Default Rates:

CAN: 4.0 Hz

This refreshes and returns a cached StatusSignal object.

Parameters:: refresh (bool) – Whether to refresh the StatusSignal before returning it; defaults to true
Returns:: MotorStallCurrent Status Signal Object
Return type:: StatusSignal[ampere]

get_bridge_output(refresh: bool = True) → 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.

Parameters:: refresh (bool) – Whether to refresh the StatusSignal before returning it; defaults to true
Returns:: BridgeOutput Status Signal Object
Return type:: StatusSignal[BridgeOutputValue]

get_is_pro_licensed(refresh: bool = True) → 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.

Parameters:: refresh (bool) – Whether to refresh the StatusSignal before returning it; defaults to true
Returns:: IsProLicensed Status Signal Object
Return type:: StatusSignal[bool]

get_ancillary_device_temp(refresh: bool = True) → phoenix6.status_signal.StatusSignal[phoenix6.units.celsius]¶

Temperature of device from second sensor.

Newer versions of Talon 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.

Parameters:: refresh (bool) – Whether to refresh the StatusSignal before returning it; defaults to true
Returns:: AncillaryDeviceTemp Status Signal Object
Return type:: StatusSignal[celsius]

get_connected_motor(refresh: bool = True) → phoenix6.status_signal.StatusSignal[phoenix6.signals.spn_enums.ConnectedMotorValue]¶

The type of motor attached to the Talon.

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.

Parameters:: refresh (bool) – Whether to refresh the StatusSignal before returning it; defaults to true
Returns:: ConnectedMotor Status Signal Object
Return type:: StatusSignal[ConnectedMotorValue]

get_fault_hardware(refresh: bool = True) → phoenix6.status_signal.StatusSignal[bool]¶

Hardware fault occurred

Default Rates:

CAN: 4.0 Hz

This refreshes and returns a cached StatusSignal object.

Parameters:: refresh (bool) – Whether to refresh the StatusSignal before returning it; defaults to true
Returns:: Fault_Hardware Status Signal Object
Return type:: StatusSignal[bool]

get_sticky_fault_hardware(refresh: bool = True) → phoenix6.status_signal.StatusSignal[bool]¶

Hardware fault occurred

Default Rates:

CAN: 4.0 Hz

This refreshes and returns a cached StatusSignal object.

Parameters:: refresh (bool) – Whether to refresh the StatusSignal before returning it; defaults to true
Returns:: StickyFault_Hardware Status Signal Object
Return type:: StatusSignal[bool]

get_fault_proc_temp(refresh: bool = True) → phoenix6.status_signal.StatusSignal[bool]¶

Processor temperature exceeded limit

Default Rates:

CAN: 4.0 Hz

This refreshes and returns a cached StatusSignal object.

Parameters:: refresh (bool) – Whether to refresh the StatusSignal before returning it; defaults to true
Returns:: Fault_ProcTemp Status Signal Object
Return type:: StatusSignal[bool]

get_sticky_fault_proc_temp(refresh: bool = True) → phoenix6.status_signal.StatusSignal[bool]¶

Processor temperature exceeded limit

Default Rates:

CAN: 4.0 Hz

This refreshes and returns a cached StatusSignal object.

Parameters:: refresh (bool) – Whether to refresh the StatusSignal before returning it; defaults to true
Returns:: StickyFault_ProcTemp Status Signal Object
Return type:: StatusSignal[bool]

get_fault_device_temp(refresh: bool = True) → phoenix6.status_signal.StatusSignal[bool]¶

Device temperature exceeded limit

Default Rates:

CAN: 4.0 Hz

This refreshes and returns a cached StatusSignal object.

Parameters:: refresh (bool) – Whether to refresh the StatusSignal before returning it; defaults to true
Returns:: Fault_DeviceTemp Status Signal Object
Return type:: StatusSignal[bool]

get_sticky_fault_device_temp(refresh: bool = True) → phoenix6.status_signal.StatusSignal[bool]¶

Device temperature exceeded limit

Default Rates:

CAN: 4.0 Hz

This refreshes and returns a cached StatusSignal object.

Parameters:: refresh (bool) – Whether to refresh the StatusSignal before returning it; defaults to true
Returns:: StickyFault_DeviceTemp Status Signal Object
Return type:: StatusSignal[bool]

get_fault_undervoltage(refresh: bool = True) → 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.

Parameters:: refresh (bool) – Whether to refresh the StatusSignal before returning it; defaults to true
Returns:: Fault_Undervoltage Status Signal Object
Return type:: StatusSignal[bool]

get_sticky_fault_undervoltage(refresh: bool = True) → 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.

Parameters:: refresh (bool) – Whether to refresh the StatusSignal before returning it; defaults to true
Returns:: StickyFault_Undervoltage Status Signal Object
Return type:: StatusSignal[bool]

get_fault_boot_during_enable(refresh: bool = True) → 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.

Parameters:: refresh (bool) – Whether to refresh the StatusSignal before returning it; defaults to true
Returns:: Fault_BootDuringEnable Status Signal Object
Return type:: StatusSignal[bool]

get_sticky_fault_boot_during_enable(refresh: bool = True) → 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.

Parameters:: refresh (bool) – Whether to refresh the StatusSignal before returning it; defaults to true
Returns:: StickyFault_BootDuringEnable Status Signal Object
Return type:: StatusSignal[bool]

get_fault_unlicensed_feature_in_use(refresh: bool = True) → 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.

Parameters:: refresh (bool) – Whether to refresh the StatusSignal before returning it; defaults to true
Returns:: Fault_UnlicensedFeatureInUse Status Signal Object
Return type:: StatusSignal[bool]

get_sticky_fault_unlicensed_feature_in_use(refresh: bool = True) → 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.

Parameters:: refresh (bool) – Whether to refresh the StatusSignal before returning it; defaults to true
Returns:: StickyFault_UnlicensedFeatureInUse Status Signal Object
Return type:: StatusSignal[bool]

get_fault_bridge_brownout(refresh: bool = True) → 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.

Parameters:: refresh (bool) – Whether to refresh the StatusSignal before returning it; defaults to true
Returns:: Fault_BridgeBrownout Status Signal Object
Return type:: StatusSignal[bool]

get_sticky_fault_bridge_brownout(refresh: bool = True) → 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.

Parameters:: refresh (bool) – Whether to refresh the StatusSignal before returning it; defaults to true
Returns:: StickyFault_BridgeBrownout Status Signal Object
Return type:: StatusSignal[bool]

get_fault_remote_sensor_reset(refresh: bool = True) → phoenix6.status_signal.StatusSignal[bool]¶

The remote sensor has reset.

Default Rates:

CAN: 4.0 Hz

This refreshes and returns a cached StatusSignal object.

Parameters:: refresh (bool) – Whether to refresh the StatusSignal before returning it; defaults to true
Returns:: Fault_RemoteSensorReset Status Signal Object
Return type:: StatusSignal[bool]

get_sticky_fault_remote_sensor_reset(refresh: bool = True) → phoenix6.status_signal.StatusSignal[bool]¶

The remote sensor has reset.

Default Rates:

CAN: 4.0 Hz

This refreshes and returns a cached StatusSignal object.

Parameters:: refresh (bool) – Whether to refresh the StatusSignal before returning it; defaults to true
Returns:: StickyFault_RemoteSensorReset Status Signal Object
Return type:: StatusSignal[bool]

get_fault_missing_differential_fx(refresh: bool = True) → phoenix6.status_signal.StatusSignal[bool]¶

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

Default Rates:

CAN: 4.0 Hz

This refreshes and returns a cached StatusSignal object.

Parameters:: refresh (bool) – Whether to refresh the StatusSignal before returning it; defaults to true
Returns:: Fault_MissingDifferentialFX Status Signal Object
Return type:: StatusSignal[bool]

get_sticky_fault_missing_differential_fx(refresh: bool = True) → phoenix6.status_signal.StatusSignal[bool]¶

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

Default Rates:

CAN: 4.0 Hz

This refreshes and returns a cached StatusSignal object.

Parameters:: refresh (bool) – Whether to refresh the StatusSignal before returning it; defaults to true
Returns:: StickyFault_MissingDifferentialFX Status Signal Object
Return type:: StatusSignal[bool]

get_fault_remote_sensor_pos_overflow(refresh: bool = True) → 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.

Parameters:: refresh (bool) – Whether to refresh the StatusSignal before returning it; defaults to true
Returns:: Fault_RemoteSensorPosOverflow Status Signal Object
Return type:: StatusSignal[bool]

get_sticky_fault_remote_sensor_pos_overflow(refresh: bool = True) → phoenix6.status_signal.StatusSignal[bool]¶

Default Rates:

CAN: 4.0 Hz

This refreshes and returns a cached StatusSignal object.

Parameters:: refresh (bool) – Whether to refresh the StatusSignal before returning it; defaults to true
Returns:: StickyFault_RemoteSensorPosOverflow Status Signal Object
Return type:: StatusSignal[bool]

get_fault_over_supply_v(refresh: bool = True) → 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.

Parameters:: refresh (bool) – Whether to refresh the StatusSignal before returning it; defaults to true
Returns:: Fault_OverSupplyV Status Signal Object
Return type:: StatusSignal[bool]

get_sticky_fault_over_supply_v(refresh: bool = True) → 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.

Parameters:: refresh (bool) – Whether to refresh the StatusSignal before returning it; defaults to true
Returns:: StickyFault_OverSupplyV Status Signal Object
Return type:: StatusSignal[bool]

get_fault_unstable_supply_v(refresh: bool = True) → 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.

Parameters:: refresh (bool) – Whether to refresh the StatusSignal before returning it; defaults to true
Returns:: Fault_UnstableSupplyV Status Signal Object
Return type:: StatusSignal[bool]

get_sticky_fault_unstable_supply_v(refresh: bool = True) → 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.

Parameters:: refresh (bool) – Whether to refresh the StatusSignal before returning it; defaults to true
Returns:: StickyFault_UnstableSupplyV Status Signal Object
Return type:: StatusSignal[bool]

get_fault_reverse_hard_limit(refresh: bool = True) → 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.

Parameters:: refresh (bool) – Whether to refresh the StatusSignal before returning it; defaults to true
Returns:: Fault_ReverseHardLimit Status Signal Object
Return type:: StatusSignal[bool]

get_sticky_fault_reverse_hard_limit(refresh: bool = True) → 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.

Parameters:: refresh (bool) – Whether to refresh the StatusSignal before returning it; defaults to true
Returns:: StickyFault_ReverseHardLimit Status Signal Object
Return type:: StatusSignal[bool]

get_fault_forward_hard_limit(refresh: bool = True) → 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.

Parameters:: refresh (bool) – Whether to refresh the StatusSignal before returning it; defaults to true
Returns:: Fault_ForwardHardLimit Status Signal Object
Return type:: StatusSignal[bool]

get_sticky_fault_forward_hard_limit(refresh: bool = True) → 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.

Parameters:: refresh (bool) – Whether to refresh the StatusSignal before returning it; defaults to true
Returns:: StickyFault_ForwardHardLimit Status Signal Object
Return type:: StatusSignal[bool]

get_fault_reverse_soft_limit(refresh: bool = True) → 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.

Parameters:: refresh (bool) – Whether to refresh the StatusSignal before returning it; defaults to true
Returns:: Fault_ReverseSoftLimit Status Signal Object
Return type:: StatusSignal[bool]

get_sticky_fault_reverse_soft_limit(refresh: bool = True) → 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.

Parameters:: refresh (bool) – Whether to refresh the StatusSignal before returning it; defaults to true
Returns:: StickyFault_ReverseSoftLimit Status Signal Object
Return type:: StatusSignal[bool]

get_fault_forward_soft_limit(refresh: bool = True) → 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.

Parameters:: refresh (bool) – Whether to refresh the StatusSignal before returning it; defaults to true
Returns:: Fault_ForwardSoftLimit Status Signal Object
Return type:: StatusSignal[bool]

get_sticky_fault_forward_soft_limit(refresh: bool = True) → 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.

Parameters:: refresh (bool) – Whether to refresh the StatusSignal before returning it; defaults to true
Returns:: StickyFault_ForwardSoftLimit Status Signal Object
Return type:: StatusSignal[bool]

get_fault_missing_soft_limit_remote(refresh: bool = True) → phoenix6.status_signal.StatusSignal[bool]¶

The remote soft limit device is not present on CAN Bus.

Default Rates:

CAN: 4.0 Hz

This refreshes and returns a cached StatusSignal object.

Parameters:: refresh (bool) – Whether to refresh the StatusSignal before returning it; defaults to true
Returns:: Fault_MissingSoftLimitRemote Status Signal Object
Return type:: StatusSignal[bool]

get_sticky_fault_missing_soft_limit_remote(refresh: bool = True) → phoenix6.status_signal.StatusSignal[bool]¶

The remote soft limit device is not present on CAN Bus.

Default Rates:

CAN: 4.0 Hz

This refreshes and returns a cached StatusSignal object.

Parameters:: refresh (bool) – Whether to refresh the StatusSignal before returning it; defaults to true
Returns:: StickyFault_MissingSoftLimitRemote Status Signal Object
Return type:: StatusSignal[bool]

get_fault_missing_hard_limit_remote(refresh: bool = True) → phoenix6.status_signal.StatusSignal[bool]¶

The remote limit switch device is not present on CAN Bus.

Default Rates:

CAN: 4.0 Hz

This refreshes and returns a cached StatusSignal object.

Parameters:: refresh (bool) – Whether to refresh the StatusSignal before returning it; defaults to true
Returns:: Fault_MissingHardLimitRemote Status Signal Object
Return type:: StatusSignal[bool]

get_sticky_fault_missing_hard_limit_remote(refresh: bool = True) → phoenix6.status_signal.StatusSignal[bool]¶

The remote limit switch device is not present on CAN Bus.

Default Rates:

CAN: 4.0 Hz

This refreshes and returns a cached StatusSignal object.

Parameters:: refresh (bool) – Whether to refresh the StatusSignal before returning it; defaults to true
Returns:: StickyFault_MissingHardLimitRemote Status Signal Object
Return type:: StatusSignal[bool]

get_fault_remote_sensor_data_invalid(refresh: bool = True) → 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.

Parameters:: refresh (bool) – Whether to refresh the StatusSignal before returning it; defaults to true
Returns:: Fault_RemoteSensorDataInvalid Status Signal Object
Return type:: StatusSignal[bool]

get_sticky_fault_remote_sensor_data_invalid(refresh: bool = True) → phoenix6.status_signal.StatusSignal[bool]¶

Default Rates:

CAN: 4.0 Hz

This refreshes and returns a cached StatusSignal object.

Parameters:: refresh (bool) – Whether to refresh the StatusSignal before returning it; defaults to true
Returns:: StickyFault_RemoteSensorDataInvalid Status Signal Object
Return type:: StatusSignal[bool]

get_fault_fused_sensor_out_of_sync(refresh: bool = True) → 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.

Parameters:: refresh (bool) – Whether to refresh the StatusSignal before returning it; defaults to true
Returns:: Fault_FusedSensorOutOfSync Status Signal Object
Return type:: StatusSignal[bool]

get_sticky_fault_fused_sensor_out_of_sync(refresh: bool = True) → phoenix6.status_signal.StatusSignal[bool]¶

Default Rates:

CAN: 4.0 Hz

This refreshes and returns a cached StatusSignal object.

Parameters:: refresh (bool) – Whether to refresh the StatusSignal before returning it; defaults to true
Returns:: StickyFault_FusedSensorOutOfSync Status Signal Object
Return type:: StatusSignal[bool]

get_fault_stator_curr_limit(refresh: bool = True) → phoenix6.status_signal.StatusSignal[bool]¶

Stator current limit occured.

Default Rates:

CAN: 4.0 Hz

This refreshes and returns a cached StatusSignal object.

Parameters:: refresh (bool) – Whether to refresh the StatusSignal before returning it; defaults to true
Returns:: Fault_StatorCurrLimit Status Signal Object
Return type:: StatusSignal[bool]

get_sticky_fault_stator_curr_limit(refresh: bool = True) → phoenix6.status_signal.StatusSignal[bool]¶

Stator current limit occured.

Default Rates:

CAN: 4.0 Hz

This refreshes and returns a cached StatusSignal object.

Parameters:: refresh (bool) – Whether to refresh the StatusSignal before returning it; defaults to true
Returns:: StickyFault_StatorCurrLimit Status Signal Object
Return type:: StatusSignal[bool]

get_fault_supply_curr_limit(refresh: bool = True) → phoenix6.status_signal.StatusSignal[bool]¶

Supply current limit occured.

Default Rates:

CAN: 4.0 Hz

This refreshes and returns a cached StatusSignal object.

Parameters:: refresh (bool) – Whether to refresh the StatusSignal before returning it; defaults to true
Returns:: Fault_SupplyCurrLimit Status Signal Object
Return type:: StatusSignal[bool]

get_sticky_fault_supply_curr_limit(refresh: bool = True) → phoenix6.status_signal.StatusSignal[bool]¶

Supply current limit occured.

Default Rates:

CAN: 4.0 Hz

This refreshes and returns a cached StatusSignal object.

Parameters:: refresh (bool) – Whether to refresh the StatusSignal before returning it; defaults to true
Returns:: StickyFault_SupplyCurrLimit Status Signal Object
Return type:: StatusSignal[bool]

get_fault_using_fused_cancoder_while_unlicensed(refresh: bool = True) → 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.

Parameters:: refresh (bool) – Whether to refresh the StatusSignal before returning it; defaults to true
Returns:: Fault_UsingFusedCANcoderWhileUnlicensed Status Signal Object
Return type:: StatusSignal[bool]

get_sticky_fault_using_fused_cancoder_while_unlicensed(refresh: bool = True) → 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.

Parameters:: refresh (bool) – Whether to refresh the StatusSignal before returning it; defaults to true
Returns:: StickyFault_UsingFusedCANcoderWhileUnlicensed Status Signal Object
Return type:: StatusSignal[bool]

get_fault_static_brake_disabled(refresh: bool = True) → 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.

Parameters:: refresh (bool) – Whether to refresh the StatusSignal before returning it; defaults to true
Returns:: Fault_StaticBrakeDisabled Status Signal Object
Return type:: StatusSignal[bool]

get_sticky_fault_static_brake_disabled(refresh: bool = True) → 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.

Parameters:: refresh (bool) – Whether to refresh the StatusSignal before returning it; defaults to true
Returns:: StickyFault_StaticBrakeDisabled Status Signal Object
Return type:: StatusSignal[bool]

get_closed_loop_proportional_output(refresh: bool = True) → 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.

Parameters:: refresh (bool) – Whether to refresh the StatusSignal before returning it; defaults to true
Returns:: ClosedLoopProportionalOutput Status Signal object
Return type:: StatusSignal[float]

get_closed_loop_integrated_output(refresh: bool = True) → 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.

Parameters:: refresh (bool) – Whether to refresh the StatusSignal before returning it; defaults to true
Returns:: ClosedLoopIntegratedOutput Status Signal object
Return type:: StatusSignal[float]

get_closed_loop_feed_forward(refresh: bool = True) → 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.

Parameters:: refresh (bool) – Whether to refresh the StatusSignal before returning it; defaults to true
Returns:: ClosedLoopFeedForward Status Signal object
Return type:: StatusSignal[float]

get_closed_loop_derivative_output(refresh: bool = True) → 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.

Parameters:: refresh (bool) – Whether to refresh the StatusSignal before returning it; defaults to true
Returns:: ClosedLoopDerivativeOutput Status Signal object
Return type:: StatusSignal[float]

get_closed_loop_output(refresh: bool = True) → 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.

Parameters:: refresh (bool) – Whether to refresh the StatusSignal before returning it; defaults to true
Returns:: ClosedLoopOutput Status Signal object
Return type:: StatusSignal[float]

get_closed_loop_reference(refresh: bool = True) → 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.

Parameters:: refresh (bool) – Whether to refresh the StatusSignal before returning it; defaults to true
Returns:: ClosedLoopReference Status Signal object
Return type:: StatusSignal[float]

get_closed_loop_reference_slope(refresh: bool = True) → 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.

Parameters:: refresh (bool) – Whether to refresh the StatusSignal before returning it; defaults to true
Returns:: ClosedLoopReferenceSlope Status Signal object
Return type:: StatusSignal[float]

get_closed_loop_error(refresh: bool = True) → 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.

Parameters:: refresh (bool) – Whether to refresh the StatusSignal before returning it; defaults to true
Returns:: ClosedLoopError Status Signal object
Return type:: StatusSignal[float]

get_differential_output(refresh: bool = True) → 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.

Parameters:: refresh (bool) – Whether to refresh the StatusSignal before returning it; defaults to true
Returns:: DifferentialOutput Status Signal object
Return type:: StatusSignal[float]

get_differential_closed_loop_proportional_output(refresh: bool = True) → 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.

Parameters:: refresh (bool) – Whether to refresh the StatusSignal before returning it; defaults to true
Returns:: DifferentialClosedLoopProportionalOutput Status Signal object
Return type:: StatusSignal[float]

get_differential_closed_loop_integrated_output(refresh: bool = True) → 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.

Parameters:: refresh (bool) – Whether to refresh the StatusSignal before returning it; defaults to true
Returns:: DifferentialClosedLoopIntegratedOutput Status Signal object
Return type:: StatusSignal[float]

get_differential_closed_loop_feed_forward(refresh: bool = True) → 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.

Parameters:: refresh (bool) – Whether to refresh the StatusSignal before returning it; defaults to true
Returns:: DifferentialClosedLoopFeedForward Status Signal object
Return type:: StatusSignal[float]

get_differential_closed_loop_derivative_output(refresh: bool = True) → 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.

Parameters:: refresh (bool) – Whether to refresh the StatusSignal before returning it; defaults to true
Returns:: DifferentialClosedLoopDerivativeOutput Status Signal object
Return type:: StatusSignal[float]

get_differential_closed_loop_output(refresh: bool = True) → 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.

Parameters:: refresh (bool) – Whether to refresh the StatusSignal before returning it; defaults to true
Returns:: DifferentialClosedLoopOutput Status Signal object
Return type:: StatusSignal[float]

get_differential_closed_loop_reference(refresh: bool = True) → 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.

Parameters:: refresh (bool) – Whether to refresh the StatusSignal before returning it; defaults to true
Returns:: DifferentialClosedLoopReference Status Signal object
Return type:: StatusSignal[float]

get_differential_closed_loop_reference_slope(refresh: bool = True) → 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.

Parameters:: refresh (bool) – Whether to refresh the StatusSignal before returning it; defaults to true
Returns:: DifferentialClosedLoopReferenceSlope Status Signal object
Return type:: StatusSignal[float]

get_differential_closed_loop_error(refresh: bool = True) → 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.

Parameters:: refresh (bool) – Whether to refresh the StatusSignal before returning it; defaults to true
Returns:: DifferentialClosedLoopError Status Signal object
Return type:: StatusSignal[float]

set_control(request: phoenix6.controls.duty_cycle_out.DutyCycleOut) → phoenix6.status_signal.StatusCode¶

set_control(request: phoenix6.controls.torque_current_foc.TorqueCurrentFOC) → phoenix6.status_signal.StatusCode

set_control(request: phoenix6.controls.voltage_out.VoltageOut) → phoenix6.status_signal.StatusCode

set_control(request: phoenix6.controls.position_duty_cycle.PositionDutyCycle) → phoenix6.status_signal.StatusCode

set_control(request: phoenix6.controls.position_voltage.PositionVoltage) → phoenix6.status_signal.StatusCode

set_control(request: phoenix6.controls.position_torque_current_foc.PositionTorqueCurrentFOC) → phoenix6.status_signal.StatusCode

set_control(request: phoenix6.controls.velocity_duty_cycle.VelocityDutyCycle) → phoenix6.status_signal.StatusCode

set_control(request: phoenix6.controls.velocity_voltage.VelocityVoltage) → phoenix6.status_signal.StatusCode

set_control(request: phoenix6.controls.velocity_torque_current_foc.VelocityTorqueCurrentFOC) → phoenix6.status_signal.StatusCode

set_control(request: phoenix6.controls.motion_magic_duty_cycle.MotionMagicDutyCycle) → phoenix6.status_signal.StatusCode

set_control(request: phoenix6.controls.motion_magic_voltage.MotionMagicVoltage) → phoenix6.status_signal.StatusCode

set_control(request: phoenix6.controls.motion_magic_torque_current_foc.MotionMagicTorqueCurrentFOC) → phoenix6.status_signal.StatusCode

set_control(request: phoenix6.controls.differential_duty_cycle.DifferentialDutyCycle) → phoenix6.status_signal.StatusCode

set_control(request: phoenix6.controls.differential_voltage.DifferentialVoltage) → phoenix6.status_signal.StatusCode

set_control(request: phoenix6.controls.differential_position_duty_cycle.DifferentialPositionDutyCycle) → phoenix6.status_signal.StatusCode

set_control(request: phoenix6.controls.differential_position_voltage.DifferentialPositionVoltage) → phoenix6.status_signal.StatusCode

set_control(request: phoenix6.controls.differential_velocity_duty_cycle.DifferentialVelocityDutyCycle) → phoenix6.status_signal.StatusCode

set_control(request: phoenix6.controls.differential_velocity_voltage.DifferentialVelocityVoltage) → phoenix6.status_signal.StatusCode

set_control(request: phoenix6.controls.differential_motion_magic_duty_cycle.DifferentialMotionMagicDutyCycle) → phoenix6.status_signal.StatusCode

set_control(request: phoenix6.controls.differential_motion_magic_voltage.DifferentialMotionMagicVoltage) → phoenix6.status_signal.StatusCode

set_control(request: phoenix6.controls.follower.Follower) → phoenix6.status_signal.StatusCode

set_control(request: phoenix6.controls.strict_follower.StrictFollower) → phoenix6.status_signal.StatusCode

set_control(request: phoenix6.controls.differential_follower.DifferentialFollower) → phoenix6.status_signal.StatusCode

set_control(request: phoenix6.controls.differential_strict_follower.DifferentialStrictFollower) → phoenix6.status_signal.StatusCode

set_control(request: phoenix6.controls.neutral_out.NeutralOut) → phoenix6.status_signal.StatusCode

set_control(request: phoenix6.controls.coast_out.CoastOut) → phoenix6.status_signal.StatusCode

set_control(request: phoenix6.controls.static_brake.StaticBrake) → phoenix6.status_signal.StatusCode

set_control(request: phoenix6.controls.music_tone.MusicTone) → phoenix6.status_signal.StatusCode

set_control(request: phoenix6.controls.motion_magic_velocity_duty_cycle.MotionMagicVelocityDutyCycle) → phoenix6.status_signal.StatusCode

set_control(request: phoenix6.controls.motion_magic_velocity_torque_current_foc.MotionMagicVelocityTorqueCurrentFOC) → phoenix6.status_signal.StatusCode

set_control(request: phoenix6.controls.motion_magic_velocity_voltage.MotionMagicVelocityVoltage) → phoenix6.status_signal.StatusCode

set_control(request: phoenix6.controls.motion_magic_expo_duty_cycle.MotionMagicExpoDutyCycle) → phoenix6.status_signal.StatusCode

set_control(request: phoenix6.controls.motion_magic_expo_voltage.MotionMagicExpoVoltage) → phoenix6.status_signal.StatusCode

set_control(request: phoenix6.controls.motion_magic_expo_torque_current_foc.MotionMagicExpoTorqueCurrentFOC) → phoenix6.status_signal.StatusCode

set_control(request: phoenix6.controls.dynamic_motion_magic_duty_cycle.DynamicMotionMagicDutyCycle) → phoenix6.status_signal.StatusCode

set_control(request: phoenix6.controls.dynamic_motion_magic_voltage.DynamicMotionMagicVoltage) → phoenix6.status_signal.StatusCode

set_control(request: phoenix6.controls.dynamic_motion_magic_torque_current_foc.DynamicMotionMagicTorqueCurrentFOC) → phoenix6.status_signal.StatusCode

set_control(request: phoenix6.controls.compound.diff_duty_cycle_out_position.Diff_DutyCycleOut_Position) → phoenix6.status_signal.StatusCode

set_control(request: phoenix6.controls.compound.diff_position_duty_cycle_position.Diff_PositionDutyCycle_Position) → phoenix6.status_signal.StatusCode

set_control(request: phoenix6.controls.compound.diff_velocity_duty_cycle_position.Diff_VelocityDutyCycle_Position) → phoenix6.status_signal.StatusCode

set_control(request: phoenix6.controls.compound.diff_motion_magic_duty_cycle_position.Diff_MotionMagicDutyCycle_Position) → phoenix6.status_signal.StatusCode

set_control(request: phoenix6.controls.compound.diff_duty_cycle_out_velocity.Diff_DutyCycleOut_Velocity) → phoenix6.status_signal.StatusCode

set_control(request: phoenix6.controls.compound.diff_position_duty_cycle_velocity.Diff_PositionDutyCycle_Velocity) → phoenix6.status_signal.StatusCode

set_control(request: phoenix6.controls.compound.diff_velocity_duty_cycle_velocity.Diff_VelocityDutyCycle_Velocity) → phoenix6.status_signal.StatusCode

set_control(request: phoenix6.controls.compound.diff_motion_magic_duty_cycle_velocity.Diff_MotionMagicDutyCycle_Velocity) → phoenix6.status_signal.StatusCode

set_control(request: phoenix6.controls.compound.diff_voltage_out_position.Diff_VoltageOut_Position) → phoenix6.status_signal.StatusCode

set_control(request: phoenix6.controls.compound.diff_position_voltage_position.Diff_PositionVoltage_Position) → phoenix6.status_signal.StatusCode

set_control(request: phoenix6.controls.compound.diff_velocity_voltage_position.Diff_VelocityVoltage_Position) → phoenix6.status_signal.StatusCode

set_control(request: phoenix6.controls.compound.diff_motion_magic_voltage_position.Diff_MotionMagicVoltage_Position) → phoenix6.status_signal.StatusCode

set_control(request: phoenix6.controls.compound.diff_voltage_out_velocity.Diff_VoltageOut_Velocity) → phoenix6.status_signal.StatusCode

set_control(request: phoenix6.controls.compound.diff_position_voltage_velocity.Diff_PositionVoltage_Velocity) → phoenix6.status_signal.StatusCode

set_control(request: phoenix6.controls.compound.diff_velocity_voltage_velocity.Diff_VelocityVoltage_Velocity) → phoenix6.status_signal.StatusCode

set_control(request: phoenix6.controls.compound.diff_motion_magic_voltage_velocity.Diff_MotionMagicVoltage_Velocity) → phoenix6.status_signal.StatusCode

set_control(request: phoenix6.controls.compound.diff_torque_current_foc_position.Diff_TorqueCurrentFOC_Position) → phoenix6.status_signal.StatusCode

set_control(request: phoenix6.controls.compound.diff_position_torque_current_foc_position.Diff_PositionTorqueCurrentFOC_Position) → phoenix6.status_signal.StatusCode

set_control(request: phoenix6.controls.compound.diff_velocity_torque_current_foc_position.Diff_VelocityTorqueCurrentFOC_Position) → phoenix6.status_signal.StatusCode

set_control(request: phoenix6.controls.compound.diff_motion_magic_torque_current_foc_position.Diff_MotionMagicTorqueCurrentFOC_Position) → phoenix6.status_signal.StatusCode

set_control(request: phoenix6.controls.compound.diff_torque_current_foc_velocity.Diff_TorqueCurrentFOC_Velocity) → phoenix6.status_signal.StatusCode

set_control(request: phoenix6.controls.compound.diff_position_torque_current_foc_velocity.Diff_PositionTorqueCurrentFOC_Velocity) → phoenix6.status_signal.StatusCode

set_control(request: phoenix6.controls.compound.diff_velocity_torque_current_foc_velocity.Diff_VelocityTorqueCurrentFOC_Velocity) → phoenix6.status_signal.StatusCode

set_control(request: phoenix6.controls.compound.diff_motion_magic_torque_current_foc_velocity.Diff_MotionMagicTorqueCurrentFOC_Velocity) → phoenix6.status_signal.StatusCode

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

Request a specified motor duty cycle.

This control mode will output a proportion of the supplied voltage which is supplied by the user.

Parameters:: request (DutyCycleOut) – Control object to request of the device
Returns:: Code response of the request
Return type:: StatusCode

set_position(new_value: phoenix6.units.rotation, timeout_seconds: phoenix6.units.second = 0.1) → 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 = 0.1) → 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 = 0.1) → 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 = 0.1) → 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 = 0.1) → 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 = 0.1) → 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 = 0.1) → 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_unlicensed_feature_in_use(timeout_seconds: phoenix6.units.second = 0.1) → phoenix6.status_signal.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_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 = 0.1) → 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 = 0.1) → phoenix6.status_signal.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_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 = 0.1) → 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 = 0.1) → 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 = 0.1) → 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 = 0.1) → 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 = 0.1) → 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 = 0.1) → 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_missing_soft_limit_remote(timeout_seconds: phoenix6.units.second = 0.1) → phoenix6.status_signal.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_signal.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_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 = 0.1) → 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 = 0.1) → 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 = 0.1) → 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

clear_sticky_fault_using_fused_cancoder_while_unlicensed(timeout_seconds: phoenix6.units.second = 0.1) → phoenix6.status_signal.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_signal.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

class phoenix6.hardware.core.CoreCANcoder(device_id: int, canbus: str | phoenix6.canbus.CANBus = '')¶

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 | CANBus, 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.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(refresh: bool = True) → phoenix6.status_signal.StatusSignal[int]¶

App Major Version number.

Default Rates:

CAN: 4.0 Hz

This refreshes and returns a cached StatusSignal object.

Parameters:: refresh (bool) – Whether to refresh the StatusSignal before returning it; defaults to true
Returns:: VersionMajor Status Signal Object
Return type:: StatusSignal[int]

get_version_minor(refresh: bool = True) → phoenix6.status_signal.StatusSignal[int]¶

App Minor Version number.

Default Rates:

CAN: 4.0 Hz

This refreshes and returns a cached StatusSignal object.

Parameters:: refresh (bool) – Whether to refresh the StatusSignal before returning it; defaults to true
Returns:: VersionMinor Status Signal Object
Return type:: StatusSignal[int]

get_version_bugfix(refresh: bool = True) → phoenix6.status_signal.StatusSignal[int]¶

App Bugfix Version number.

Default Rates:

CAN: 4.0 Hz

This refreshes and returns a cached StatusSignal object.

Parameters:: refresh (bool) – Whether to refresh the StatusSignal before returning it; defaults to true
Returns:: VersionBugfix Status Signal Object
Return type:: StatusSignal[int]

get_version_build(refresh: bool = True) → phoenix6.status_signal.StatusSignal[int]¶

App Build Version number.

Default Rates:

CAN: 4.0 Hz

This refreshes and returns a cached StatusSignal object.

Parameters:: refresh (bool) – Whether to refresh the StatusSignal before returning it; defaults to true
Returns:: VersionBuild Status Signal Object
Return type:: StatusSignal[int]

get_version(refresh: bool = True) → phoenix6.status_signal.StatusSignal[int]¶

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.

Parameters:: refresh (bool) – Whether to refresh the StatusSignal before returning it; defaults to true
Returns:: Version Status Signal Object
Return type:: StatusSignal[int]

get_fault_field(refresh: bool = True) → phoenix6.status_signal.StatusSignal[int]¶

Integer representing all 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.

Parameters:: refresh (bool) – Whether to refresh the StatusSignal before returning it; defaults to true
Returns:: FaultField Status Signal Object
Return type:: StatusSignal[int]

get_sticky_fault_field(refresh: bool = True) → phoenix6.status_signal.StatusSignal[int]¶

Integer representing all (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.

Parameters:: refresh (bool) – Whether to refresh the StatusSignal before returning it; defaults to true
Returns:: StickyFaultField Status Signal Object
Return type:: StatusSignal[int]

get_velocity(refresh: bool = True) → phoenix6.status_signal.StatusSignal[phoenix6.units.rotations_per_second]¶

Velocity of the device.

Default Rates:

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

This refreshes and returns a cached StatusSignal object.

Parameters:: refresh (bool) – Whether to refresh the StatusSignal before returning it; defaults to true
Returns:: Velocity Status Signal Object
Return type:: StatusSignal[rotations_per_second]

get_position(refresh: bool = True) → phoenix6.status_signal.StatusSignal[phoenix6.units.rotation]¶

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

Default Rates:

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

This refreshes and returns a cached StatusSignal object.

Parameters:: refresh (bool) – Whether to refresh the StatusSignal before returning it; defaults to true
Returns:: Position Status Signal Object
Return type:: StatusSignal[rotation]

get_absolute_position(refresh: bool = True) → 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 AbsoluteSensorDiscontinuityPoint. This position is only affected by the MagnetSensor configs.

Default Rates:

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

This refreshes and returns a cached StatusSignal object.

Parameters:: refresh (bool) – Whether to refresh the StatusSignal before returning it; defaults to true
Returns:: AbsolutePosition Status Signal Object
Return type:: StatusSignal[rotation]

get_unfiltered_velocity(refresh: bool = True) → 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.

Default Rates:

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

This refreshes and returns a cached StatusSignal object.

Parameters:: refresh (bool) – Whether to refresh the StatusSignal before returning it; defaults to true
Returns:: UnfilteredVelocity Status Signal Object
Return type:: StatusSignal[rotations_per_second]

get_position_since_boot(refresh: bool = True) → 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.

Default Rates:

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

This refreshes and returns a cached StatusSignal object.

Parameters:: refresh (bool) – Whether to refresh the StatusSignal before returning it; defaults to true
Returns:: PositionSinceBoot Status Signal Object
Return type:: StatusSignal[rotation]

get_supply_voltage(refresh: bool = True) → phoenix6.status_signal.StatusSignal[phoenix6.units.volt]¶

Measured supply voltage to the CANcoder.

Default Rates:

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

This refreshes and returns a cached StatusSignal object.

Parameters:: refresh (bool) – Whether to refresh the StatusSignal before returning it; defaults to true
Returns:: SupplyVoltage Status Signal Object
Return type:: StatusSignal[volt]

get_magnet_health(refresh: bool = True) → phoenix6.status_signal.StatusSignal[phoenix6.signals.spn_enums.MagnetHealthValue]¶

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)

This refreshes and returns a cached StatusSignal object.

Parameters:: refresh (bool) – Whether to refresh the StatusSignal before returning it; defaults to true
Returns:: MagnetHealth Status Signal Object
Return type:: StatusSignal[MagnetHealthValue]

get_is_pro_licensed(refresh: bool = True) → 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.

Parameters:: refresh (bool) – Whether to refresh the StatusSignal before returning it; defaults to true
Returns:: IsProLicensed Status Signal Object
Return type:: StatusSignal[bool]

get_fault_hardware(refresh: bool = True) → phoenix6.status_signal.StatusSignal[bool]¶

Hardware fault occurred

Default Rates:

CAN: 4.0 Hz

This refreshes and returns a cached StatusSignal object.

Parameters:: refresh (bool) – Whether to refresh the StatusSignal before returning it; defaults to true
Returns:: Fault_Hardware Status Signal Object
Return type:: StatusSignal[bool]

get_sticky_fault_hardware(refresh: bool = True) → phoenix6.status_signal.StatusSignal[bool]¶

Hardware fault occurred

Default Rates:

CAN: 4.0 Hz

This refreshes and returns a cached StatusSignal object.

Parameters:: refresh (bool) – Whether to refresh the StatusSignal before returning it; defaults to true
Returns:: StickyFault_Hardware Status Signal Object
Return type:: StatusSignal[bool]

get_fault_undervoltage(refresh: bool = True) → 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.

Parameters:: refresh (bool) – Whether to refresh the StatusSignal before returning it; defaults to true
Returns:: Fault_Undervoltage Status Signal Object
Return type:: StatusSignal[bool]

get_sticky_fault_undervoltage(refresh: bool = True) → 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.

Parameters:: refresh (bool) – Whether to refresh the StatusSignal before returning it; defaults to true
Returns:: StickyFault_Undervoltage Status Signal Object
Return type:: StatusSignal[bool]

get_fault_boot_during_enable(refresh: bool = True) → 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.

Parameters:: refresh (bool) – Whether to refresh the StatusSignal before returning it; defaults to true
Returns:: Fault_BootDuringEnable Status Signal Object
Return type:: StatusSignal[bool]

get_sticky_fault_boot_during_enable(refresh: bool = True) → 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.

Parameters:: refresh (bool) – Whether to refresh the StatusSignal before returning it; defaults to true
Returns:: StickyFault_BootDuringEnable Status Signal Object
Return type:: StatusSignal[bool]

get_fault_unlicensed_feature_in_use(refresh: bool = True) → 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.

Parameters:: refresh (bool) – Whether to refresh the StatusSignal before returning it; defaults to true
Returns:: Fault_UnlicensedFeatureInUse Status Signal Object
Return type:: StatusSignal[bool]

get_sticky_fault_unlicensed_feature_in_use(refresh: bool = True) → 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.

Parameters:: refresh (bool) – Whether to refresh the StatusSignal before returning it; defaults to true
Returns:: StickyFault_UnlicensedFeatureInUse Status Signal Object
Return type:: StatusSignal[bool]

get_fault_bad_magnet(refresh: bool = True) → phoenix6.status_signal.StatusSignal[bool]¶

The magnet distance is not correct or magnet is missing

Default Rates:

CAN: 4.0 Hz

This refreshes and returns a cached StatusSignal object.

Parameters:: refresh (bool) – Whether to refresh the StatusSignal before returning it; defaults to true
Returns:: Fault_BadMagnet Status Signal Object
Return type:: StatusSignal[bool]

get_sticky_fault_bad_magnet(refresh: bool = True) → phoenix6.status_signal.StatusSignal[bool]¶

The magnet distance is not correct or magnet is missing

Default Rates:

CAN: 4.0 Hz

This refreshes and returns a cached StatusSignal object.

Parameters:: refresh (bool) – Whether to refresh the StatusSignal before returning it; defaults to true
Returns:: StickyFault_BadMagnet Status Signal Object
Return type:: StatusSignal[bool]

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

set_position(new_value: phoenix6.units.rotation, timeout_seconds: phoenix6.units.second = 0.1) → 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 = 0.1) → 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 = 0.1) → 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 = 0.1) → 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 = 0.1) → 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_unlicensed_feature_in_use(timeout_seconds: phoenix6.units.second = 0.1) → phoenix6.status_signal.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_bad_magnet(timeout_seconds: phoenix6.units.second = 0.1) → 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

class phoenix6.hardware.core.CorePigeon2(device_id: int, canbus: str | phoenix6.canbus.CANBus = '')¶

Bases: phoenix6.hardware.parent_device.ParentDevice

Constructs a new Pigeon 2 sensor object.

Parameters:

device_id (int) – ID of the device, as configured in Phoenix Tuner.
canbus (str | CANBus, 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.pigeon2_sim_state.Pigeon2SimState¶

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:: Pigeon2SimState

get_version_major(refresh: bool = True) → phoenix6.status_signal.StatusSignal[int]¶

App Major Version number.

Default Rates:

CAN: 4.0 Hz

This refreshes and returns a cached StatusSignal object.

Parameters:: refresh (bool) – Whether to refresh the StatusSignal before returning it; defaults to true
Returns:: VersionMajor Status Signal Object
Return type:: StatusSignal[int]

get_version_minor(refresh: bool = True) → phoenix6.status_signal.StatusSignal[int]¶

App Minor Version number.

Default Rates:

CAN: 4.0 Hz

This refreshes and returns a cached StatusSignal object.

Parameters:: refresh (bool) – Whether to refresh the StatusSignal before returning it; defaults to true
Returns:: VersionMinor Status Signal Object
Return type:: StatusSignal[int]

get_version_bugfix(refresh: bool = True) → phoenix6.status_signal.StatusSignal[int]¶

App Bugfix Version number.

Default Rates:

CAN: 4.0 Hz

This refreshes and returns a cached StatusSignal object.

Parameters:: refresh (bool) – Whether to refresh the StatusSignal before returning it; defaults to true
Returns:: VersionBugfix Status Signal Object
Return type:: StatusSignal[int]

get_version_build(refresh: bool = True) → phoenix6.status_signal.StatusSignal[int]¶

App Build Version number.

Default Rates:

CAN: 4.0 Hz

This refreshes and returns a cached StatusSignal object.

Parameters:: refresh (bool) – Whether to refresh the StatusSignal before returning it; defaults to true
Returns:: VersionBuild Status Signal Object
Return type:: StatusSignal[int]

get_version(refresh: bool = True) → phoenix6.status_signal.StatusSignal[int]¶

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.

Parameters:: refresh (bool) – Whether to refresh the StatusSignal before returning it; defaults to true
Returns:: Version Status Signal Object
Return type:: StatusSignal[int]

get_fault_field(refresh: bool = True) → phoenix6.status_signal.StatusSignal[int]¶

Integer representing all 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.

Parameters:: refresh (bool) – Whether to refresh the StatusSignal before returning it; defaults to true
Returns:: FaultField Status Signal Object
Return type:: StatusSignal[int]

get_sticky_fault_field(refresh: bool = True) → phoenix6.status_signal.StatusSignal[int]¶

Integer representing all (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.

Parameters:: refresh (bool) – Whether to refresh the StatusSignal before returning it; defaults to true
Returns:: StickyFaultField Status Signal Object
Return type:: StatusSignal[int]

get_yaw(refresh: bool = True) → phoenix6.status_signal.StatusSignal[phoenix6.units.degree]¶

Current reported yaw of the Pigeon2.

Default Rates:

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

This refreshes and returns a cached StatusSignal object.

Parameters:: refresh (bool) – Whether to refresh the StatusSignal before returning it; defaults to true
Returns:: Yaw Status Signal Object
Return type:: StatusSignal[degree]

get_pitch(refresh: bool = True) → phoenix6.status_signal.StatusSignal[phoenix6.units.degree]¶

Current reported pitch of the Pigeon2.

Default Rates:

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

This refreshes and returns a cached StatusSignal object.

Parameters:: refresh (bool) – Whether to refresh the StatusSignal before returning it; defaults to true
Returns:: Pitch Status Signal Object
Return type:: StatusSignal[degree]

get_roll(refresh: bool = True) → phoenix6.status_signal.StatusSignal[phoenix6.units.degree]¶

Current reported roll of the Pigeon2.

Default Rates:

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

This refreshes and returns a cached StatusSignal object.

Parameters:: refresh (bool) – Whether to refresh the StatusSignal before returning it; defaults to true
Returns:: Roll Status Signal Object
Return type:: StatusSignal[degree]

get_quat_w(refresh: bool = True) → phoenix6.status_signal.StatusSignal[float]¶

The W component of the reported Quaternion.

Default Rates:

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

This refreshes and returns a cached StatusSignal object.

Parameters:: refresh (bool) – Whether to refresh the StatusSignal before returning it; defaults to true
Returns:: QuatW Status Signal Object
Return type:: StatusSignal[float]

get_quat_x(refresh: bool = True) → phoenix6.status_signal.StatusSignal[float]¶

The X component of the reported Quaternion.

Default Rates:

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

This refreshes and returns a cached StatusSignal object.

Parameters:: refresh (bool) – Whether to refresh the StatusSignal before returning it; defaults to true
Returns:: QuatX Status Signal Object
Return type:: StatusSignal[float]

get_quat_y(refresh: bool = True) → phoenix6.status_signal.StatusSignal[float]¶

The Y component of the reported Quaternion.

Default Rates:

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

This refreshes and returns a cached StatusSignal object.

Parameters:: refresh (bool) – Whether to refresh the StatusSignal before returning it; defaults to true
Returns:: QuatY Status Signal Object
Return type:: StatusSignal[float]

get_quat_z(refresh: bool = True) → phoenix6.status_signal.StatusSignal[float]¶

The Z component of the reported Quaternion.

Default Rates:

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

This refreshes and returns a cached StatusSignal object.

Parameters:: refresh (bool) – Whether to refresh the StatusSignal before returning it; defaults to true
Returns:: QuatZ Status Signal Object
Return type:: StatusSignal[float]

get_gravity_vector_x(refresh: bool = True) → phoenix6.status_signal.StatusSignal[float]¶

The X component of the gravity vector.

This is the X component of the reported gravity-vector. The gravity vector is not the acceleration experienced by the Pigeon2, rather it is where the Pigeon2 believes “Down” is. This can be used for mechanisms that are linearly related to gravity, such as an arm pivoting about a point, as the contribution of gravity to the arm is directly proportional to the contribution of gravity about one of these primary axis.

Default Rates:

CAN 2.0: 10.0 Hz
CAN FD: 100.0 Hz (TimeSynced with Pro)

This refreshes and returns a cached StatusSignal object.

Parameters:: refresh (bool) – Whether to refresh the StatusSignal before returning it; defaults to true
Returns:: GravityVectorX Status Signal Object
Return type:: StatusSignal[float]

get_gravity_vector_y(refresh: bool = True) → phoenix6.status_signal.StatusSignal[float]¶

The Y component of the gravity vector.

Default Rates:

CAN 2.0: 10.0 Hz
CAN FD: 100.0 Hz (TimeSynced with Pro)

This refreshes and returns a cached StatusSignal object.

Parameters:: refresh (bool) – Whether to refresh the StatusSignal before returning it; defaults to true
Returns:: GravityVectorY Status Signal Object
Return type:: StatusSignal[float]

get_gravity_vector_z(refresh: bool = True) → phoenix6.status_signal.StatusSignal[float]¶

The Z component of the gravity vector.

This is the Z component of the reported gravity-vector. The gravity vector is not the acceleration experienced by the Pigeon2, rather it is where the Pigeon2 believes “Down” is. This can be used for mechanisms that are linearly related to gravity, such as an arm pivoting about a point, as the contribution of gravity to the arm is directly proportional to the contribution of gravity about one of these primary axis.

Default Rates:

CAN 2.0: 10.0 Hz
CAN FD: 100.0 Hz (TimeSynced with Pro)

This refreshes and returns a cached StatusSignal object.

Parameters:: refresh (bool) – Whether to refresh the StatusSignal before returning it; defaults to true
Returns:: GravityVectorZ Status Signal Object
Return type:: StatusSignal[float]

get_temperature(refresh: bool = True) → phoenix6.status_signal.StatusSignal[phoenix6.units.celsius]¶

Temperature of the Pigeon 2.

Default Rates:

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

This refreshes and returns a cached StatusSignal object.

Parameters:: refresh (bool) – Whether to refresh the StatusSignal before returning it; defaults to true
Returns:: Temperature Status Signal Object
Return type:: StatusSignal[celsius]

get_no_motion_enabled(refresh: bool = True) → phoenix6.status_signal.StatusSignal[bool]¶

Whether the no-motion calibration feature is 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.

Parameters:: refresh (bool) – Whether to refresh the StatusSignal before returning it; defaults to true
Returns:: NoMotionEnabled Status Signal Object
Return type:: StatusSignal[bool]

get_no_motion_count(refresh: bool = True) → phoenix6.status_signal.StatusSignal[float]¶

The number of times a no-motion event occurred, wraps at 15.

Default Rates:

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

This refreshes and returns a cached StatusSignal object.

Parameters:: refresh (bool) – Whether to refresh the StatusSignal before returning it; defaults to true
Returns:: NoMotionCount Status Signal Object
Return type:: StatusSignal[float]

get_temperature_compensation_disabled(refresh: bool = True) → phoenix6.status_signal.StatusSignal[bool]¶

Whether the temperature-compensation feature is disabled.

Default Rates:

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

This refreshes and returns a cached StatusSignal object.

Parameters:: refresh (bool) – Whether to refresh the StatusSignal before returning it; defaults to true
Returns:: TemperatureCompensationDisabled Status Signal Object
Return type:: StatusSignal[bool]

get_up_time(refresh: bool = True) → phoenix6.status_signal.StatusSignal[phoenix6.units.second]¶

How long the Pigeon 2’s been up in seconds, caps at 255 seconds.

Default Rates:

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

This refreshes and returns a cached StatusSignal object.

Parameters:: refresh (bool) – Whether to refresh the StatusSignal before returning it; defaults to true
Returns:: UpTime Status Signal Object
Return type:: StatusSignal[second]

get_accum_gyro_x(refresh: bool = True) → phoenix6.status_signal.StatusSignal[phoenix6.units.degree]¶

The accumulated gyro about the X axis without any sensor fusing.

Default Rates:

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

This refreshes and returns a cached StatusSignal object.

Parameters:: refresh (bool) – Whether to refresh the StatusSignal before returning it; defaults to true
Returns:: AccumGyroX Status Signal Object
Return type:: StatusSignal[degree]

get_accum_gyro_y(refresh: bool = True) → phoenix6.status_signal.StatusSignal[phoenix6.units.degree]¶

The accumulated gyro about the Y axis without any sensor fusing.

Default Rates:

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

This refreshes and returns a cached StatusSignal object.

Parameters:: refresh (bool) – Whether to refresh the StatusSignal before returning it; defaults to true
Returns:: AccumGyroY Status Signal Object
Return type:: StatusSignal[degree]

get_accum_gyro_z(refresh: bool = True) → phoenix6.status_signal.StatusSignal[phoenix6.units.degree]¶

The accumulated gyro about the Z axis without any sensor fusing.

Default Rates:

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

This refreshes and returns a cached StatusSignal object.

Parameters:: refresh (bool) – Whether to refresh the StatusSignal before returning it; defaults to true
Returns:: AccumGyroZ Status Signal Object
Return type:: StatusSignal[degree]

get_angular_velocity_x_world(refresh: bool = True) → phoenix6.status_signal.StatusSignal[phoenix6.units.degrees_per_second]¶

The angular velocity (ω) of the Pigeon 2 about the X axis with respect to the world frame. This value is mount-calibrated.

Default Rates:

CAN 2.0: 10.0 Hz
CAN FD: 100.0 Hz (TimeSynced with Pro)

This refreshes and returns a cached StatusSignal object.

Parameters:: refresh (bool) – Whether to refresh the StatusSignal before returning it; defaults to true
Returns:: AngularVelocityXWorld Status Signal Object
Return type:: StatusSignal[degrees_per_second]

get_angular_velocity_y_world(refresh: bool = True) → phoenix6.status_signal.StatusSignal[phoenix6.units.degrees_per_second]¶

The angular velocity (ω) of the Pigeon 2 about the Y axis with respect to the world frame. This value is mount-calibrated.

Default Rates:

CAN 2.0: 10.0 Hz
CAN FD: 100.0 Hz (TimeSynced with Pro)

This refreshes and returns a cached StatusSignal object.

Parameters:: refresh (bool) – Whether to refresh the StatusSignal before returning it; defaults to true
Returns:: AngularVelocityYWorld Status Signal Object
Return type:: StatusSignal[degrees_per_second]

get_angular_velocity_z_world(refresh: bool = True) → phoenix6.status_signal.StatusSignal[phoenix6.units.degrees_per_second]¶

The angular velocity (ω) of the Pigeon 2 about the Z axis with respect to the world frame. This value is mount-calibrated.

Default Rates:

CAN 2.0: 10.0 Hz
CAN FD: 100.0 Hz (TimeSynced with Pro)

This refreshes and returns a cached StatusSignal object.

Parameters:: refresh (bool) – Whether to refresh the StatusSignal before returning it; defaults to true
Returns:: AngularVelocityZWorld Status Signal Object
Return type:: StatusSignal[degrees_per_second]

get_acceleration_x(refresh: bool = True) → phoenix6.status_signal.StatusSignal[phoenix6.units.g]¶

The acceleration measured by Pigeon2 in the X direction.

This value includes the acceleration due to gravity. If this is undesirable, get the gravity vector and subtract out the contribution in this direction.

Default Rates:

CAN 2.0: 10.0 Hz
CAN FD: 100.0 Hz (TimeSynced with Pro)

This refreshes and returns a cached StatusSignal object.

Parameters:: refresh (bool) – Whether to refresh the StatusSignal before returning it; defaults to true
Returns:: AccelerationX Status Signal Object
Return type:: StatusSignal[g]

get_acceleration_y(refresh: bool = True) → phoenix6.status_signal.StatusSignal[phoenix6.units.g]¶

The acceleration measured by Pigeon2 in the Y direction.

This value includes the acceleration due to gravity. If this is undesirable, get the gravity vector and subtract out the contribution in this direction.

Default Rates:

CAN 2.0: 10.0 Hz
CAN FD: 100.0 Hz (TimeSynced with Pro)

This refreshes and returns a cached StatusSignal object.

Parameters:: refresh (bool) – Whether to refresh the StatusSignal before returning it; defaults to true
Returns:: AccelerationY Status Signal Object
Return type:: StatusSignal[g]

get_acceleration_z(refresh: bool = True) → phoenix6.status_signal.StatusSignal[phoenix6.units.g]¶

The acceleration measured by Pigeon2 in the Z direction.

This value includes the acceleration due to gravity. If this is undesirable, get the gravity vector and subtract out the contribution in this direction.

Default Rates:

CAN 2.0: 10.0 Hz
CAN FD: 100.0 Hz (TimeSynced with Pro)

This refreshes and returns a cached StatusSignal object.

Parameters:: refresh (bool) – Whether to refresh the StatusSignal before returning it; defaults to true
Returns:: AccelerationZ Status Signal Object
Return type:: StatusSignal[g]

get_supply_voltage(refresh: bool = True) → phoenix6.status_signal.StatusSignal[phoenix6.units.volt]¶

Measured supply voltage to the Pigeon2.

Default Rates:

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

This refreshes and returns a cached StatusSignal object.

Parameters:: refresh (bool) – Whether to refresh the StatusSignal before returning it; defaults to true
Returns:: SupplyVoltage Status Signal Object
Return type:: StatusSignal[volt]

get_angular_velocity_x_device(refresh: bool = True) → phoenix6.status_signal.StatusSignal[phoenix6.units.degrees_per_second]¶

The angular velocity (ω) of the Pigeon 2 about the device’s X axis.

This value is not mount-calibrated.

Default Rates:

CAN: 4.0 Hz

This refreshes and returns a cached StatusSignal object.

Parameters:: refresh (bool) – Whether to refresh the StatusSignal before returning it; defaults to true
Returns:: AngularVelocityXDevice Status Signal Object
Return type:: StatusSignal[degrees_per_second]

get_angular_velocity_y_device(refresh: bool = True) → phoenix6.status_signal.StatusSignal[phoenix6.units.degrees_per_second]¶

The angular velocity (ω) of the Pigeon 2 about the device’s Y axis.

This value is not mount-calibrated.

Default Rates:

CAN: 4.0 Hz

This refreshes and returns a cached StatusSignal object.

Parameters:: refresh (bool) – Whether to refresh the StatusSignal before returning it; defaults to true
Returns:: AngularVelocityYDevice Status Signal Object
Return type:: StatusSignal[degrees_per_second]

get_angular_velocity_z_device(refresh: bool = True) → phoenix6.status_signal.StatusSignal[phoenix6.units.degrees_per_second]¶

The angular velocity (ω) of the Pigeon 2 about the device’s Z axis.

This value is not mount-calibrated.

Default Rates:

CAN: 4.0 Hz

This refreshes and returns a cached StatusSignal object.

Parameters:: refresh (bool) – Whether to refresh the StatusSignal before returning it; defaults to true
Returns:: AngularVelocityZDevice Status Signal Object
Return type:: StatusSignal[degrees_per_second]

get_magnetic_field_x(refresh: bool = True) → phoenix6.status_signal.StatusSignal[phoenix6.units.microtesla]¶

The biased magnitude of the magnetic field measured by the Pigeon 2 in the X direction. This is only valid after performing a magnetometer calibration.

Default Rates:

CAN: 4.0 Hz

This refreshes and returns a cached StatusSignal object.

Parameters:: refresh (bool) – Whether to refresh the StatusSignal before returning it; defaults to true
Returns:: MagneticFieldX Status Signal Object
Return type:: StatusSignal[microtesla]

get_magnetic_field_y(refresh: bool = True) → phoenix6.status_signal.StatusSignal[phoenix6.units.microtesla]¶

The biased magnitude of the magnetic field measured by the Pigeon 2 in the Y direction. This is only valid after performing a magnetometer calibration.

Default Rates:

CAN: 4.0 Hz

This refreshes and returns a cached StatusSignal object.

Parameters:: refresh (bool) – Whether to refresh the StatusSignal before returning it; defaults to true
Returns:: MagneticFieldY Status Signal Object
Return type:: StatusSignal[microtesla]

get_magnetic_field_z(refresh: bool = True) → phoenix6.status_signal.StatusSignal[phoenix6.units.microtesla]¶

The biased magnitude of the magnetic field measured by the Pigeon 2 in the Z direction. This is only valid after performing a magnetometer calibration.

Default Rates:

CAN: 4.0 Hz

This refreshes and returns a cached StatusSignal object.

Parameters:: refresh (bool) – Whether to refresh the StatusSignal before returning it; defaults to true
Returns:: MagneticFieldZ Status Signal Object
Return type:: StatusSignal[microtesla]

get_raw_magnetic_field_x(refresh: bool = True) → phoenix6.status_signal.StatusSignal[phoenix6.units.microtesla]¶

The raw magnitude of the magnetic field measured by the Pigeon 2 in the X direction. This is only valid after performing a magnetometer calibration.

Default Rates:

CAN: 4.0 Hz

This refreshes and returns a cached StatusSignal object.

Parameters:: refresh (bool) – Whether to refresh the StatusSignal before returning it; defaults to true
Returns:: RawMagneticFieldX Status Signal Object
Return type:: StatusSignal[microtesla]

get_raw_magnetic_field_y(refresh: bool = True) → phoenix6.status_signal.StatusSignal[phoenix6.units.microtesla]¶

The raw magnitude of the magnetic field measured by the Pigeon 2 in the Y direction. This is only valid after performing a magnetometer calibration.

Default Rates:

CAN: 4.0 Hz

This refreshes and returns a cached StatusSignal object.

Parameters:: refresh (bool) – Whether to refresh the StatusSignal before returning it; defaults to true
Returns:: RawMagneticFieldY Status Signal Object
Return type:: StatusSignal[microtesla]

get_raw_magnetic_field_z(refresh: bool = True) → phoenix6.status_signal.StatusSignal[phoenix6.units.microtesla]¶

The raw magnitude of the magnetic field measured by the Pigeon 2 in the Z direction. This is only valid after performing a magnetometer calibration.

Default Rates:

CAN: 4.0 Hz

This refreshes and returns a cached StatusSignal object.

Parameters:: refresh (bool) – Whether to refresh the StatusSignal before returning it; defaults to true
Returns:: RawMagneticFieldZ Status Signal Object
Return type:: StatusSignal[microtesla]

get_is_pro_licensed(refresh: bool = True) → 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.

Parameters:: refresh (bool) – Whether to refresh the StatusSignal before returning it; defaults to true
Returns:: IsProLicensed Status Signal Object
Return type:: StatusSignal[bool]

get_fault_hardware(refresh: bool = True) → phoenix6.status_signal.StatusSignal[bool]¶

Hardware fault occurred

Default Rates:

CAN: 4.0 Hz

This refreshes and returns a cached StatusSignal object.

Parameters:: refresh (bool) – Whether to refresh the StatusSignal before returning it; defaults to true
Returns:: Fault_Hardware Status Signal Object
Return type:: StatusSignal[bool]

get_sticky_fault_hardware(refresh: bool = True) → phoenix6.status_signal.StatusSignal[bool]¶

Hardware fault occurred

Default Rates:

CAN: 4.0 Hz

This refreshes and returns a cached StatusSignal object.

Parameters:: refresh (bool) – Whether to refresh the StatusSignal before returning it; defaults to true
Returns:: StickyFault_Hardware Status Signal Object
Return type:: StatusSignal[bool]

get_fault_undervoltage(refresh: bool = True) → 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.

Parameters:: refresh (bool) – Whether to refresh the StatusSignal before returning it; defaults to true
Returns:: Fault_Undervoltage Status Signal Object
Return type:: StatusSignal[bool]

get_sticky_fault_undervoltage(refresh: bool = True) → 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.

Parameters:: refresh (bool) – Whether to refresh the StatusSignal before returning it; defaults to true
Returns:: StickyFault_Undervoltage Status Signal Object
Return type:: StatusSignal[bool]

get_fault_boot_during_enable(refresh: bool = True) → 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.

Parameters:: refresh (bool) – Whether to refresh the StatusSignal before returning it; defaults to true
Returns:: Fault_BootDuringEnable Status Signal Object
Return type:: StatusSignal[bool]

get_sticky_fault_boot_during_enable(refresh: bool = True) → 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.

Parameters:: refresh (bool) – Whether to refresh the StatusSignal before returning it; defaults to true
Returns:: StickyFault_BootDuringEnable Status Signal Object
Return type:: StatusSignal[bool]

get_fault_unlicensed_feature_in_use(refresh: bool = True) → 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.

Parameters:: refresh (bool) – Whether to refresh the StatusSignal before returning it; defaults to true
Returns:: Fault_UnlicensedFeatureInUse Status Signal Object
Return type:: StatusSignal[bool]

get_sticky_fault_unlicensed_feature_in_use(refresh: bool = True) → 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.

Parameters:: refresh (bool) – Whether to refresh the StatusSignal before returning it; defaults to true
Returns:: StickyFault_UnlicensedFeatureInUse Status Signal Object
Return type:: StatusSignal[bool]

get_fault_bootup_accelerometer(refresh: bool = True) → phoenix6.status_signal.StatusSignal[bool]¶

Bootup checks failed: Accelerometer

Default Rates:

CAN: 4.0 Hz

This refreshes and returns a cached StatusSignal object.

Parameters:: refresh (bool) – Whether to refresh the StatusSignal before returning it; defaults to true
Returns:: Fault_BootupAccelerometer Status Signal Object
Return type:: StatusSignal[bool]

get_sticky_fault_bootup_accelerometer(refresh: bool = True) → phoenix6.status_signal.StatusSignal[bool]¶

Bootup checks failed: Accelerometer

Default Rates:

CAN: 4.0 Hz

This refreshes and returns a cached StatusSignal object.

Parameters:: refresh (bool) – Whether to refresh the StatusSignal before returning it; defaults to true
Returns:: StickyFault_BootupAccelerometer Status Signal Object
Return type:: StatusSignal[bool]

get_fault_bootup_gyroscope(refresh: bool = True) → phoenix6.status_signal.StatusSignal[bool]¶

Bootup checks failed: Gyroscope

Default Rates:

CAN: 4.0 Hz

This refreshes and returns a cached StatusSignal object.

Parameters:: refresh (bool) – Whether to refresh the StatusSignal before returning it; defaults to true
Returns:: Fault_BootupGyroscope Status Signal Object
Return type:: StatusSignal[bool]

get_sticky_fault_bootup_gyroscope(refresh: bool = True) → phoenix6.status_signal.StatusSignal[bool]¶

Bootup checks failed: Gyroscope

Default Rates:

CAN: 4.0 Hz

This refreshes and returns a cached StatusSignal object.

Parameters:: refresh (bool) – Whether to refresh the StatusSignal before returning it; defaults to true
Returns:: StickyFault_BootupGyroscope Status Signal Object
Return type:: StatusSignal[bool]

get_fault_bootup_magnetometer(refresh: bool = True) → phoenix6.status_signal.StatusSignal[bool]¶

Bootup checks failed: Magnetometer

Default Rates:

CAN: 4.0 Hz

This refreshes and returns a cached StatusSignal object.

Parameters:: refresh (bool) – Whether to refresh the StatusSignal before returning it; defaults to true
Returns:: Fault_BootupMagnetometer Status Signal Object
Return type:: StatusSignal[bool]

get_sticky_fault_bootup_magnetometer(refresh: bool = True) → phoenix6.status_signal.StatusSignal[bool]¶

Bootup checks failed: Magnetometer

Default Rates:

CAN: 4.0 Hz

This refreshes and returns a cached StatusSignal object.

Parameters:: refresh (bool) – Whether to refresh the StatusSignal before returning it; defaults to true
Returns:: StickyFault_BootupMagnetometer Status Signal Object
Return type:: StatusSignal[bool]

get_fault_boot_into_motion(refresh: bool = True) → phoenix6.status_signal.StatusSignal[bool]¶

Motion Detected during bootup.

Default Rates:

CAN: 4.0 Hz

This refreshes and returns a cached StatusSignal object.

Parameters:: refresh (bool) – Whether to refresh the StatusSignal before returning it; defaults to true
Returns:: Fault_BootIntoMotion Status Signal Object
Return type:: StatusSignal[bool]

get_sticky_fault_boot_into_motion(refresh: bool = True) → phoenix6.status_signal.StatusSignal[bool]¶

Motion Detected during bootup.

Default Rates:

CAN: 4.0 Hz

This refreshes and returns a cached StatusSignal object.

Parameters:: refresh (bool) – Whether to refresh the StatusSignal before returning it; defaults to true
Returns:: StickyFault_BootIntoMotion Status Signal Object
Return type:: StatusSignal[bool]

get_fault_data_acquired_late(refresh: bool = True) → phoenix6.status_signal.StatusSignal[bool]¶

Motion stack data acquisition was slower than expected

Default Rates:

CAN: 4.0 Hz

This refreshes and returns a cached StatusSignal object.

Parameters:: refresh (bool) – Whether to refresh the StatusSignal before returning it; defaults to true
Returns:: Fault_DataAcquiredLate Status Signal Object
Return type:: StatusSignal[bool]

get_sticky_fault_data_acquired_late(refresh: bool = True) → phoenix6.status_signal.StatusSignal[bool]¶

Motion stack data acquisition was slower than expected

Default Rates:

CAN: 4.0 Hz

This refreshes and returns a cached StatusSignal object.

Parameters:: refresh (bool) – Whether to refresh the StatusSignal before returning it; defaults to true
Returns:: StickyFault_DataAcquiredLate Status Signal Object
Return type:: StatusSignal[bool]

get_fault_loop_time_slow(refresh: bool = True) → phoenix6.status_signal.StatusSignal[bool]¶

Motion stack loop time was slower than expected.

Default Rates:

CAN: 4.0 Hz

This refreshes and returns a cached StatusSignal object.

Parameters:: refresh (bool) – Whether to refresh the StatusSignal before returning it; defaults to true
Returns:: Fault_LoopTimeSlow Status Signal Object
Return type:: StatusSignal[bool]

get_sticky_fault_loop_time_slow(refresh: bool = True) → phoenix6.status_signal.StatusSignal[bool]¶

Motion stack loop time was slower than expected.

Default Rates:

CAN: 4.0 Hz

This refreshes and returns a cached StatusSignal object.

Parameters:: refresh (bool) – Whether to refresh the StatusSignal before returning it; defaults to true
Returns:: StickyFault_LoopTimeSlow Status Signal Object
Return type:: StatusSignal[bool]

get_fault_saturated_magnetometer(refresh: bool = True) → phoenix6.status_signal.StatusSignal[bool]¶

Magnetometer values are saturated

Default Rates:

CAN: 4.0 Hz

This refreshes and returns a cached StatusSignal object.

Parameters:: refresh (bool) – Whether to refresh the StatusSignal before returning it; defaults to true
Returns:: Fault_SaturatedMagnetometer Status Signal Object
Return type:: StatusSignal[bool]

get_sticky_fault_saturated_magnetometer(refresh: bool = True) → phoenix6.status_signal.StatusSignal[bool]¶

Magnetometer values are saturated

Default Rates:

CAN: 4.0 Hz

This refreshes and returns a cached StatusSignal object.

Parameters:: refresh (bool) – Whether to refresh the StatusSignal before returning it; defaults to true
Returns:: StickyFault_SaturatedMagnetometer Status Signal Object
Return type:: StatusSignal[bool]

get_fault_saturated_accelerometer(refresh: bool = True) → phoenix6.status_signal.StatusSignal[bool]¶

Accelerometer values are saturated

Default Rates:

CAN: 4.0 Hz

This refreshes and returns a cached StatusSignal object.

Parameters:: refresh (bool) – Whether to refresh the StatusSignal before returning it; defaults to true
Returns:: Fault_SaturatedAccelerometer Status Signal Object
Return type:: StatusSignal[bool]

get_sticky_fault_saturated_accelerometer(refresh: bool = True) → phoenix6.status_signal.StatusSignal[bool]¶

Accelerometer values are saturated

Default Rates:

CAN: 4.0 Hz

This refreshes and returns a cached StatusSignal object.

Parameters:: refresh (bool) – Whether to refresh the StatusSignal before returning it; defaults to true
Returns:: StickyFault_SaturatedAccelerometer Status Signal Object
Return type:: StatusSignal[bool]

get_fault_saturated_gyroscope(refresh: bool = True) → phoenix6.status_signal.StatusSignal[bool]¶

Gyroscope values are saturated

Default Rates:

CAN: 4.0 Hz

This refreshes and returns a cached StatusSignal object.

Parameters:: refresh (bool) – Whether to refresh the StatusSignal before returning it; defaults to true
Returns:: Fault_SaturatedGyroscope Status Signal Object
Return type:: StatusSignal[bool]

get_sticky_fault_saturated_gyroscope(refresh: bool = True) → phoenix6.status_signal.StatusSignal[bool]¶

Gyroscope values are saturated

Default Rates:

CAN: 4.0 Hz

This refreshes and returns a cached StatusSignal object.

Parameters:: refresh (bool) – Whether to refresh the StatusSignal before returning it; defaults to true
Returns:: StickyFault_SaturatedGyroscope Status Signal Object
Return type:: StatusSignal[bool]

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

set_yaw(new_value: phoenix6.units.degree, timeout_seconds: phoenix6.units.second = 0.1) → phoenix6.status_signal.StatusCode¶

The yaw to set the Pigeon2 to right now.

Parameters:

new_value (degree) – Value to set to. Units are in deg.
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_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 = 0.1) → 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 = 0.1) → 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 = 0.1) → 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_unlicensed_feature_in_use(timeout_seconds: phoenix6.units.second = 0.1) → phoenix6.status_signal.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_bootup_accelerometer(timeout_seconds: phoenix6.units.second = 0.1) → phoenix6.status_signal.StatusCode¶

Clear sticky fault: Bootup checks failed: Accelerometer

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

clear_sticky_fault_bootup_gyroscope(timeout_seconds: phoenix6.units.second = 0.1) → phoenix6.status_signal.StatusCode¶

Clear sticky fault: Bootup checks failed: Gyroscope

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

clear_sticky_fault_bootup_magnetometer(timeout_seconds: phoenix6.units.second = 0.1) → phoenix6.status_signal.StatusCode¶

Clear sticky fault: Bootup checks failed: Magnetometer

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_into_motion(timeout_seconds: phoenix6.units.second = 0.1) → phoenix6.status_signal.StatusCode¶

Clear sticky fault: Motion Detected during bootup.

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

clear_sticky_fault_data_acquired_late(timeout_seconds: phoenix6.units.second = 0.1) → phoenix6.status_signal.StatusCode¶

Clear sticky fault: Motion stack data acquisition was slower than 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_loop_time_slow(timeout_seconds: phoenix6.units.second = 0.1) → phoenix6.status_signal.StatusCode¶

Clear sticky fault: Motion stack loop time was slower than 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_saturated_magnetometer(timeout_seconds: phoenix6.units.second = 0.1) → phoenix6.status_signal.StatusCode¶

Clear sticky fault: Magnetometer values are saturated

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

clear_sticky_fault_saturated_accelerometer(timeout_seconds: phoenix6.units.second = 0.1) → phoenix6.status_signal.StatusCode¶

Clear sticky fault: Accelerometer values are saturated

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

clear_sticky_fault_saturated_gyroscope(timeout_seconds: phoenix6.units.second = 0.1) → phoenix6.status_signal.StatusCode¶

Clear sticky fault: Gyroscope values are saturated

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

class phoenix6.hardware.core.CoreTalonFXS(device_id: int, canbus: str | phoenix6.canbus.CANBus = '')¶

Bases: phoenix6.hardware.parent_device.ParentDevice, phoenix6.hardware.traits.common_talon_with_external_motor.CommonTalonWithExternalMotor

Constructs a new Talon FXS motor controller object.

Parameters:

device_id (int) – ID of the device, as configured in Phoenix Tuner.
canbus (str | CANBus, 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_fxs_sim_state.TalonFXSSimState¶

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:: TalonFXSSimState

get_version_major(refresh: bool = True) → phoenix6.status_signal.StatusSignal[int]¶

App Major Version number.

Default Rates:

CAN: 4.0 Hz

This refreshes and returns a cached StatusSignal object.

Parameters:: refresh (bool) – Whether to refresh the StatusSignal before returning it; defaults to true
Returns:: VersionMajor Status Signal Object
Return type:: StatusSignal[int]

get_version_minor(refresh: bool = True) → phoenix6.status_signal.StatusSignal[int]¶

App Minor Version number.

Default Rates:

CAN: 4.0 Hz

This refreshes and returns a cached StatusSignal object.

Parameters:: refresh (bool) – Whether to refresh the StatusSignal before returning it; defaults to true
Returns:: VersionMinor Status Signal Object
Return type:: StatusSignal[int]

get_version_bugfix(refresh: bool = True) → phoenix6.status_signal.StatusSignal[int]¶

App Bugfix Version number.

Default Rates:

CAN: 4.0 Hz

This refreshes and returns a cached StatusSignal object.

Parameters:: refresh (bool) – Whether to refresh the StatusSignal before returning it; defaults to true
Returns:: VersionBugfix Status Signal Object
Return type:: StatusSignal[int]

get_version_build(refresh: bool = True) → phoenix6.status_signal.StatusSignal[int]¶

App Build Version number.

Default Rates:

CAN: 4.0 Hz

This refreshes and returns a cached StatusSignal object.

Parameters:: refresh (bool) – Whether to refresh the StatusSignal before returning it; defaults to true
Returns:: VersionBuild Status Signal Object
Return type:: StatusSignal[int]

get_version(refresh: bool = True) → phoenix6.status_signal.StatusSignal[int]¶

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.

Parameters:: refresh (bool) – Whether to refresh the StatusSignal before returning it; defaults to true
Returns:: Version Status Signal Object
Return type:: StatusSignal[int]

get_fault_field(refresh: bool = True) → phoenix6.status_signal.StatusSignal[int]¶

Integer representing all 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.

Parameters:: refresh (bool) – Whether to refresh the StatusSignal before returning it; defaults to true
Returns:: FaultField Status Signal Object
Return type:: StatusSignal[int]

get_sticky_fault_field(refresh: bool = True) → phoenix6.status_signal.StatusSignal[int]¶

Integer representing all (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.

Parameters:: refresh (bool) – Whether to refresh the StatusSignal before returning it; defaults to true
Returns:: StickyFaultField Status Signal Object
Return type:: StatusSignal[int]

get_motor_voltage(refresh: bool = True) → 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.

Parameters:: refresh (bool) – Whether to refresh the StatusSignal before returning it; defaults to true
Returns:: MotorVoltage Status Signal Object
Return type:: StatusSignal[volt]

get_forward_limit(refresh: bool = True) → 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.

Parameters:: refresh (bool) – Whether to refresh the StatusSignal before returning it; defaults to true
Returns:: ForwardLimit Status Signal Object
Return type:: StatusSignal[ForwardLimitValue]

get_reverse_limit(refresh: bool = True) → 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.

Parameters:: refresh (bool) – Whether to refresh the StatusSignal before returning it; defaults to true
Returns:: ReverseLimit Status Signal Object
Return type:: StatusSignal[ReverseLimitValue]

get_applied_rotor_polarity(refresh: bool = True) → phoenix6.status_signal.StatusSignal[phoenix6.signals.spn_enums.AppliedRotorPolarityValue]¶

The applied rotor polarity as seen from the front of the motor. 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.

Parameters:: refresh (bool) – Whether to refresh the StatusSignal before returning it; defaults to true
Returns:: AppliedRotorPolarity Status Signal Object
Return type:: StatusSignal[AppliedRotorPolarityValue]

get_duty_cycle(refresh: bool = True) → 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.

Parameters:: refresh (bool) – Whether to refresh the StatusSignal before returning it; defaults to true
Returns:: DutyCycle Status Signal Object
Return type:: StatusSignal[float]

get_torque_current(refresh: bool = True) → 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.

Parameters:: refresh (bool) – Whether to refresh the StatusSignal before returning it; defaults to true
Returns:: TorqueCurrent Status Signal Object
Return type:: StatusSignal[ampere]

get_stator_current(refresh: bool = True) → 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.

Parameters:: refresh (bool) – Whether to refresh the StatusSignal before returning it; defaults to true
Returns:: StatorCurrent Status Signal Object
Return type:: StatusSignal[ampere]

get_supply_current(refresh: bool = True) → 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.

Parameters:: refresh (bool) – Whether to refresh the StatusSignal before returning it; defaults to true
Returns:: SupplyCurrent Status Signal Object
Return type:: StatusSignal[ampere]

get_supply_voltage(refresh: bool = True) → phoenix6.status_signal.StatusSignal[phoenix6.units.volt]¶

Measured supply voltage to the 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.

Parameters:: refresh (bool) – Whether to refresh the StatusSignal before returning it; defaults to true
Returns:: SupplyVoltage Status Signal Object
Return type:: StatusSignal[volt]

get_device_temp(refresh: bool = True) → 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.

Parameters:: refresh (bool) – Whether to refresh the StatusSignal before returning it; defaults to true
Returns:: DeviceTemp Status Signal Object
Return type:: StatusSignal[celsius]

get_processor_temp(refresh: bool = True) → 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.

Parameters:: refresh (bool) – Whether to refresh the StatusSignal before returning it; defaults to true
Returns:: ProcessorTemp Status Signal Object
Return type:: StatusSignal[celsius]

get_rotor_velocity(refresh: bool = True) → 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.

Parameters:: refresh (bool) – Whether to refresh the StatusSignal before returning it; defaults to true
Returns:: RotorVelocity Status Signal Object
Return type:: StatusSignal[rotations_per_second]

get_rotor_position(refresh: bool = True) → 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.

Parameters:: refresh (bool) – Whether to refresh the StatusSignal before returning it; defaults to true
Returns:: RotorPosition Status Signal Object
Return type:: StatusSignal[rotation]

get_velocity(refresh: bool = True) → 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.

Parameters:: refresh (bool) – Whether to refresh the StatusSignal before returning it; defaults to true
Returns:: Velocity Status Signal Object
Return type:: StatusSignal[rotations_per_second]

get_position(refresh: bool = True) → phoenix6.status_signal.StatusSignal[phoenix6.units.rotation]¶

Default Rates:

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

This refreshes and returns a cached StatusSignal object.

Parameters:: refresh (bool) – Whether to refresh the StatusSignal before returning it; defaults to true
Returns:: Position Status Signal Object
Return type:: StatusSignal[rotation]

get_acceleration(refresh: bool = True) → 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.

Parameters:: refresh (bool) – Whether to refresh the StatusSignal before returning it; defaults to true
Returns:: Acceleration Status Signal Object
Return type:: StatusSignal[rotations_per_second_squared]

get_control_mode(refresh: bool = True) → 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.

Parameters:: refresh (bool) – Whether to refresh the StatusSignal before returning it; defaults to true
Returns:: ControlMode Status Signal Object
Return type:: StatusSignal[ControlModeValue]

get_external_motor_temp_status(refresh: bool = True) → phoenix6.status_signal.StatusSignal[phoenix6.signals.spn_enums.ExternalMotorTempStatusValue]¶

Status of the temperature sensor of the external motor.

Default Rates:

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

This refreshes and returns a cached StatusSignal object.

Parameters:: refresh (bool) – Whether to refresh the StatusSignal before returning it; defaults to true
Returns:: ExternalMotorTempStatus Status Signal Object
Return type:: StatusSignal[ExternalMotorTempStatusValue]

get_external_motor_temp(refresh: bool = True) → phoenix6.status_signal.StatusSignal[phoenix6.units.celsius]¶

Temperature of the external motor.

Default Rates:

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

This refreshes and returns a cached StatusSignal object.

Parameters:: refresh (bool) – Whether to refresh the StatusSignal before returning it; defaults to true
Returns:: ExternalMotorTemp Status Signal Object
Return type:: StatusSignal[celsius]

get_motion_magic_is_running(refresh: bool = True) → 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.

Parameters:: refresh (bool) – Whether to refresh the StatusSignal before returning it; defaults to true
Returns:: MotionMagicIsRunning Status Signal Object
Return type:: StatusSignal[MotionMagicIsRunningValue]

get_device_enable(refresh: bool = True) → 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.

Parameters:: refresh (bool) – Whether to refresh the StatusSignal before returning it; defaults to true
Returns:: DeviceEnable Status Signal Object
Return type:: StatusSignal[DeviceEnableValue]

get_closed_loop_slot(refresh: bool = True) → phoenix6.status_signal.StatusSignal[int]¶

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.

Parameters:: refresh (bool) – Whether to refresh the StatusSignal before returning it; defaults to true
Returns:: ClosedLoopSlot Status Signal Object
Return type:: StatusSignal[int]

get_motor_output_status(refresh: bool = True) → 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.

Default Rates:

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

This refreshes and returns a cached StatusSignal object.

Parameters:: refresh (bool) – Whether to refresh the StatusSignal before returning it; defaults to true
Returns:: MotorOutputStatus Status Signal Object
Return type:: StatusSignal[MotorOutputStatusValue]

get_differential_control_mode(refresh: bool = True) → 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.

Parameters:: refresh (bool) – Whether to refresh the StatusSignal before returning it; defaults to true
Returns:: DifferentialControlMode Status Signal Object
Return type:: StatusSignal[DifferentialControlModeValue]

get_differential_average_velocity(refresh: bool = True) → 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.

Parameters:: refresh (bool) – Whether to refresh the StatusSignal before returning it; defaults to true
Returns:: DifferentialAverageVelocity Status Signal Object
Return type:: StatusSignal[rotations_per_second]

get_differential_average_position(refresh: bool = True) → 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.

Parameters:: refresh (bool) – Whether to refresh the StatusSignal before returning it; defaults to true
Returns:: DifferentialAveragePosition Status Signal Object
Return type:: StatusSignal[rotation]

get_differential_difference_velocity(refresh: bool = True) → 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.

Parameters:: refresh (bool) – Whether to refresh the StatusSignal before returning it; defaults to true
Returns:: DifferentialDifferenceVelocity Status Signal Object
Return type:: StatusSignal[rotations_per_second]

get_differential_difference_position(refresh: bool = True) → 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.

Parameters:: refresh (bool) – Whether to refresh the StatusSignal before returning it; defaults to true
Returns:: DifferentialDifferencePosition Status Signal Object
Return type:: StatusSignal[rotation]

get_differential_closed_loop_slot(refresh: bool = True) → phoenix6.status_signal.StatusSignal[int]¶

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.

Parameters:: refresh (bool) – Whether to refresh the StatusSignal before returning it; defaults to true
Returns:: DifferentialClosedLoopSlot Status Signal Object
Return type:: StatusSignal[int]

get_motor_kt(refresh: bool = True) → phoenix6.status_signal.StatusSignal[phoenix6.units.newton_meters_per_ampere]¶

The torque constant (K_T) of the motor.

Default Rates:

CAN: 4.0 Hz

This refreshes and returns a cached StatusSignal object.

Parameters:: refresh (bool) – Whether to refresh the StatusSignal before returning it; defaults to true
Returns:: MotorKT Status Signal Object
Return type:: StatusSignal[newton_meters_per_ampere]

get_motor_kv(refresh: bool = True) → phoenix6.status_signal.StatusSignal[phoenix6.units.rpm_per_volt]¶

The velocity constant (K_V) of the motor.

Default Rates:

CAN: 4.0 Hz

This refreshes and returns a cached StatusSignal object.

Parameters:: refresh (bool) – Whether to refresh the StatusSignal before returning it; defaults to true
Returns:: MotorKV Status Signal Object
Return type:: StatusSignal[rpm_per_volt]

get_motor_stall_current(refresh: bool = True) → phoenix6.status_signal.StatusSignal[phoenix6.units.ampere]¶

The stall current of the motor at 12 V output.

Default Rates:

CAN: 4.0 Hz

This refreshes and returns a cached StatusSignal object.

Parameters:: refresh (bool) – Whether to refresh the StatusSignal before returning it; defaults to true
Returns:: MotorStallCurrent Status Signal Object
Return type:: StatusSignal[ampere]

get_bridge_output(refresh: bool = True) → 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.

Parameters:: refresh (bool) – Whether to refresh the StatusSignal before returning it; defaults to true
Returns:: BridgeOutput Status Signal Object
Return type:: StatusSignal[BridgeOutputValue]

get_is_pro_licensed(refresh: bool = True) → 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.

Parameters:: refresh (bool) – Whether to refresh the StatusSignal before returning it; defaults to true
Returns:: IsProLicensed Status Signal Object
Return type:: StatusSignal[bool]

get_ancillary_device_temp(refresh: bool = True) → phoenix6.status_signal.StatusSignal[phoenix6.units.celsius]¶

Temperature of device from second sensor.

Newer versions of Talon 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.

Parameters:: refresh (bool) – Whether to refresh the StatusSignal before returning it; defaults to true
Returns:: AncillaryDeviceTemp Status Signal Object
Return type:: StatusSignal[celsius]

get_connected_motor(refresh: bool = True) → phoenix6.status_signal.StatusSignal[phoenix6.signals.spn_enums.ConnectedMotorValue]¶

The type of motor attached to the Talon.

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.

Parameters:: refresh (bool) – Whether to refresh the StatusSignal before returning it; defaults to true
Returns:: ConnectedMotor Status Signal Object
Return type:: StatusSignal[ConnectedMotorValue]

get_five_v_rail_voltage(refresh: bool = True) → phoenix6.status_signal.StatusSignal[phoenix6.units.volt]¶

The measured voltage of the 5V rail available on the JST and dataport connectors.

Default Rates:

CAN: 4.0 Hz

This refreshes and returns a cached StatusSignal object.

Parameters:: refresh (bool) – Whether to refresh the StatusSignal before returning it; defaults to true
Returns:: FiveVRailVoltage Status Signal Object
Return type:: StatusSignal[volt]

get_fault_hardware(refresh: bool = True) → phoenix6.status_signal.StatusSignal[bool]¶

Hardware fault occurred

Default Rates:

CAN: 4.0 Hz

This refreshes and returns a cached StatusSignal object.

Parameters:: refresh (bool) – Whether to refresh the StatusSignal before returning it; defaults to true
Returns:: Fault_Hardware Status Signal Object
Return type:: StatusSignal[bool]

get_sticky_fault_hardware(refresh: bool = True) → phoenix6.status_signal.StatusSignal[bool]¶

Hardware fault occurred

Default Rates:

CAN: 4.0 Hz

This refreshes and returns a cached StatusSignal object.

Parameters:: refresh (bool) – Whether to refresh the StatusSignal before returning it; defaults to true
Returns:: StickyFault_Hardware Status Signal Object
Return type:: StatusSignal[bool]

get_fault_proc_temp(refresh: bool = True) → phoenix6.status_signal.StatusSignal[bool]¶

Processor temperature exceeded limit

Default Rates:

CAN: 4.0 Hz

This refreshes and returns a cached StatusSignal object.

Parameters:: refresh (bool) – Whether to refresh the StatusSignal before returning it; defaults to true
Returns:: Fault_ProcTemp Status Signal Object
Return type:: StatusSignal[bool]

get_sticky_fault_proc_temp(refresh: bool = True) → phoenix6.status_signal.StatusSignal[bool]¶

Processor temperature exceeded limit

Default Rates:

CAN: 4.0 Hz

This refreshes and returns a cached StatusSignal object.

Parameters:: refresh (bool) – Whether to refresh the StatusSignal before returning it; defaults to true
Returns:: StickyFault_ProcTemp Status Signal Object
Return type:: StatusSignal[bool]

get_fault_device_temp(refresh: bool = True) → phoenix6.status_signal.StatusSignal[bool]¶

Device temperature exceeded limit

Default Rates:

CAN: 4.0 Hz

This refreshes and returns a cached StatusSignal object.

Parameters:: refresh (bool) – Whether to refresh the StatusSignal before returning it; defaults to true
Returns:: Fault_DeviceTemp Status Signal Object
Return type:: StatusSignal[bool]

get_sticky_fault_device_temp(refresh: bool = True) → phoenix6.status_signal.StatusSignal[bool]¶

Device temperature exceeded limit

Default Rates:

CAN: 4.0 Hz

This refreshes and returns a cached StatusSignal object.

Parameters:: refresh (bool) – Whether to refresh the StatusSignal before returning it; defaults to true
Returns:: StickyFault_DeviceTemp Status Signal Object
Return type:: StatusSignal[bool]

get_fault_undervoltage(refresh: bool = True) → 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.

Parameters:: refresh (bool) – Whether to refresh the StatusSignal before returning it; defaults to true
Returns:: Fault_Undervoltage Status Signal Object
Return type:: StatusSignal[bool]

get_sticky_fault_undervoltage(refresh: bool = True) → 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.

Parameters:: refresh (bool) – Whether to refresh the StatusSignal before returning it; defaults to true
Returns:: StickyFault_Undervoltage Status Signal Object
Return type:: StatusSignal[bool]

get_fault_boot_during_enable(refresh: bool = True) → 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.

Parameters:: refresh (bool) – Whether to refresh the StatusSignal before returning it; defaults to true
Returns:: Fault_BootDuringEnable Status Signal Object
Return type:: StatusSignal[bool]

get_sticky_fault_boot_during_enable(refresh: bool = True) → 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.

Parameters:: refresh (bool) – Whether to refresh the StatusSignal before returning it; defaults to true
Returns:: StickyFault_BootDuringEnable Status Signal Object
Return type:: StatusSignal[bool]

get_fault_unlicensed_feature_in_use(refresh: bool = True) → 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.

Parameters:: refresh (bool) – Whether to refresh the StatusSignal before returning it; defaults to true
Returns:: Fault_UnlicensedFeatureInUse Status Signal Object
Return type:: StatusSignal[bool]

get_sticky_fault_unlicensed_feature_in_use(refresh: bool = True) → 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.

Parameters:: refresh (bool) – Whether to refresh the StatusSignal before returning it; defaults to true
Returns:: StickyFault_UnlicensedFeatureInUse Status Signal Object
Return type:: StatusSignal[bool]

get_fault_bridge_brownout(refresh: bool = True) → 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.

Parameters:: refresh (bool) – Whether to refresh the StatusSignal before returning it; defaults to true
Returns:: Fault_BridgeBrownout Status Signal Object
Return type:: StatusSignal[bool]

get_sticky_fault_bridge_brownout(refresh: bool = True) → 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.

Parameters:: refresh (bool) – Whether to refresh the StatusSignal before returning it; defaults to true
Returns:: StickyFault_BridgeBrownout Status Signal Object
Return type:: StatusSignal[bool]

get_fault_remote_sensor_reset(refresh: bool = True) → phoenix6.status_signal.StatusSignal[bool]¶

The remote sensor has reset.

Default Rates:

CAN: 4.0 Hz

This refreshes and returns a cached StatusSignal object.

Parameters:: refresh (bool) – Whether to refresh the StatusSignal before returning it; defaults to true
Returns:: Fault_RemoteSensorReset Status Signal Object
Return type:: StatusSignal[bool]

get_sticky_fault_remote_sensor_reset(refresh: bool = True) → phoenix6.status_signal.StatusSignal[bool]¶

The remote sensor has reset.

Default Rates:

CAN: 4.0 Hz

This refreshes and returns a cached StatusSignal object.

Parameters:: refresh (bool) – Whether to refresh the StatusSignal before returning it; defaults to true
Returns:: StickyFault_RemoteSensorReset Status Signal Object
Return type:: StatusSignal[bool]

get_fault_missing_differential_fx(refresh: bool = True) → phoenix6.status_signal.StatusSignal[bool]¶

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

Default Rates:

CAN: 4.0 Hz

This refreshes and returns a cached StatusSignal object.

Parameters:: refresh (bool) – Whether to refresh the StatusSignal before returning it; defaults to true
Returns:: Fault_MissingDifferentialFX Status Signal Object
Return type:: StatusSignal[bool]

get_sticky_fault_missing_differential_fx(refresh: bool = True) → phoenix6.status_signal.StatusSignal[bool]¶

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

Default Rates:

CAN: 4.0 Hz

This refreshes and returns a cached StatusSignal object.

Parameters:: refresh (bool) – Whether to refresh the StatusSignal before returning it; defaults to true
Returns:: StickyFault_MissingDifferentialFX Status Signal Object
Return type:: StatusSignal[bool]

get_fault_remote_sensor_pos_overflow(refresh: bool = True) → phoenix6.status_signal.StatusSignal[bool]¶

Default Rates:

CAN: 4.0 Hz

This refreshes and returns a cached StatusSignal object.

Parameters:: refresh (bool) – Whether to refresh the StatusSignal before returning it; defaults to true
Returns:: Fault_RemoteSensorPosOverflow Status Signal Object
Return type:: StatusSignal[bool]

get_sticky_fault_remote_sensor_pos_overflow(refresh: bool = True) → phoenix6.status_signal.StatusSignal[bool]¶

Default Rates:

CAN: 4.0 Hz

This refreshes and returns a cached StatusSignal object.

Parameters:: refresh (bool) – Whether to refresh the StatusSignal before returning it; defaults to true
Returns:: StickyFault_RemoteSensorPosOverflow Status Signal Object
Return type:: StatusSignal[bool]

get_fault_over_supply_v(refresh: bool = True) → 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.

Parameters:: refresh (bool) – Whether to refresh the StatusSignal before returning it; defaults to true
Returns:: Fault_OverSupplyV Status Signal Object
Return type:: StatusSignal[bool]

get_sticky_fault_over_supply_v(refresh: bool = True) → 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.

Parameters:: refresh (bool) – Whether to refresh the StatusSignal before returning it; defaults to true
Returns:: StickyFault_OverSupplyV Status Signal Object
Return type:: StatusSignal[bool]

get_fault_unstable_supply_v(refresh: bool = True) → 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.

Parameters:: refresh (bool) – Whether to refresh the StatusSignal before returning it; defaults to true
Returns:: Fault_UnstableSupplyV Status Signal Object
Return type:: StatusSignal[bool]

get_sticky_fault_unstable_supply_v(refresh: bool = True) → 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.

Parameters:: refresh (bool) – Whether to refresh the StatusSignal before returning it; defaults to true
Returns:: StickyFault_UnstableSupplyV Status Signal Object
Return type:: StatusSignal[bool]

get_fault_reverse_hard_limit(refresh: bool = True) → 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.

Parameters:: refresh (bool) – Whether to refresh the StatusSignal before returning it; defaults to true
Returns:: Fault_ReverseHardLimit Status Signal Object
Return type:: StatusSignal[bool]

get_sticky_fault_reverse_hard_limit(refresh: bool = True) → 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.

Parameters:: refresh (bool) – Whether to refresh the StatusSignal before returning it; defaults to true
Returns:: StickyFault_ReverseHardLimit Status Signal Object
Return type:: StatusSignal[bool]

get_fault_forward_hard_limit(refresh: bool = True) → 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.

Parameters:: refresh (bool) – Whether to refresh the StatusSignal before returning it; defaults to true
Returns:: Fault_ForwardHardLimit Status Signal Object
Return type:: StatusSignal[bool]

get_sticky_fault_forward_hard_limit(refresh: bool = True) → 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.

Parameters:: refresh (bool) – Whether to refresh the StatusSignal before returning it; defaults to true
Returns:: StickyFault_ForwardHardLimit Status Signal Object
Return type:: StatusSignal[bool]

get_fault_reverse_soft_limit(refresh: bool = True) → 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.

Parameters:: refresh (bool) – Whether to refresh the StatusSignal before returning it; defaults to true
Returns:: Fault_ReverseSoftLimit Status Signal Object
Return type:: StatusSignal[bool]

get_sticky_fault_reverse_soft_limit(refresh: bool = True) → 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.

Parameters:: refresh (bool) – Whether to refresh the StatusSignal before returning it; defaults to true
Returns:: StickyFault_ReverseSoftLimit Status Signal Object
Return type:: StatusSignal[bool]

get_fault_forward_soft_limit(refresh: bool = True) → 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.

Parameters:: refresh (bool) – Whether to refresh the StatusSignal before returning it; defaults to true
Returns:: Fault_ForwardSoftLimit Status Signal Object
Return type:: StatusSignal[bool]

get_sticky_fault_forward_soft_limit(refresh: bool = True) → 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.

Parameters:: refresh (bool) – Whether to refresh the StatusSignal before returning it; defaults to true
Returns:: StickyFault_ForwardSoftLimit Status Signal Object
Return type:: StatusSignal[bool]

get_fault_missing_soft_limit_remote(refresh: bool = True) → phoenix6.status_signal.StatusSignal[bool]¶

The remote soft limit device is not present on CAN Bus.

Default Rates:

CAN: 4.0 Hz

This refreshes and returns a cached StatusSignal object.

Parameters:: refresh (bool) – Whether to refresh the StatusSignal before returning it; defaults to true
Returns:: Fault_MissingSoftLimitRemote Status Signal Object
Return type:: StatusSignal[bool]

get_sticky_fault_missing_soft_limit_remote(refresh: bool = True) → phoenix6.status_signal.StatusSignal[bool]¶

The remote soft limit device is not present on CAN Bus.

Default Rates:

CAN: 4.0 Hz

This refreshes and returns a cached StatusSignal object.

Parameters:: refresh (bool) – Whether to refresh the StatusSignal before returning it; defaults to true
Returns:: StickyFault_MissingSoftLimitRemote Status Signal Object
Return type:: StatusSignal[bool]

get_fault_missing_hard_limit_remote(refresh: bool = True) → phoenix6.status_signal.StatusSignal[bool]¶

The remote limit switch device is not present on CAN Bus.

Default Rates:

CAN: 4.0 Hz

This refreshes and returns a cached StatusSignal object.

Parameters:: refresh (bool) – Whether to refresh the StatusSignal before returning it; defaults to true
Returns:: Fault_MissingHardLimitRemote Status Signal Object
Return type:: StatusSignal[bool]

get_sticky_fault_missing_hard_limit_remote(refresh: bool = True) → phoenix6.status_signal.StatusSignal[bool]¶

The remote limit switch device is not present on CAN Bus.

Default Rates:

CAN: 4.0 Hz

This refreshes and returns a cached StatusSignal object.

Parameters:: refresh (bool) – Whether to refresh the StatusSignal before returning it; defaults to true
Returns:: StickyFault_MissingHardLimitRemote Status Signal Object
Return type:: StatusSignal[bool]

get_fault_remote_sensor_data_invalid(refresh: bool = True) → phoenix6.status_signal.StatusSignal[bool]¶

Default Rates:

CAN: 4.0 Hz

This refreshes and returns a cached StatusSignal object.

Parameters:: refresh (bool) – Whether to refresh the StatusSignal before returning it; defaults to true
Returns:: Fault_RemoteSensorDataInvalid Status Signal Object
Return type:: StatusSignal[bool]

get_sticky_fault_remote_sensor_data_invalid(refresh: bool = True) → phoenix6.status_signal.StatusSignal[bool]¶

Default Rates:

CAN: 4.0 Hz

This refreshes and returns a cached StatusSignal object.

Parameters:: refresh (bool) – Whether to refresh the StatusSignal before returning it; defaults to true
Returns:: StickyFault_RemoteSensorDataInvalid Status Signal Object
Return type:: StatusSignal[bool]

get_fault_fused_sensor_out_of_sync(refresh: bool = True) → phoenix6.status_signal.StatusSignal[bool]¶

Default Rates:

CAN: 4.0 Hz

This refreshes and returns a cached StatusSignal object.

Parameters:: refresh (bool) – Whether to refresh the StatusSignal before returning it; defaults to true
Returns:: Fault_FusedSensorOutOfSync Status Signal Object
Return type:: StatusSignal[bool]

get_sticky_fault_fused_sensor_out_of_sync(refresh: bool = True) → phoenix6.status_signal.StatusSignal[bool]¶

Default Rates:

CAN: 4.0 Hz

This refreshes and returns a cached StatusSignal object.

Parameters:: refresh (bool) – Whether to refresh the StatusSignal before returning it; defaults to true
Returns:: StickyFault_FusedSensorOutOfSync Status Signal Object
Return type:: StatusSignal[bool]

get_fault_stator_curr_limit(refresh: bool = True) → phoenix6.status_signal.StatusSignal[bool]¶

Stator current limit occured.

Default Rates:

CAN: 4.0 Hz

This refreshes and returns a cached StatusSignal object.

Parameters:: refresh (bool) – Whether to refresh the StatusSignal before returning it; defaults to true
Returns:: Fault_StatorCurrLimit Status Signal Object
Return type:: StatusSignal[bool]

get_sticky_fault_stator_curr_limit(refresh: bool = True) → phoenix6.status_signal.StatusSignal[bool]¶

Stator current limit occured.

Default Rates:

CAN: 4.0 Hz

This refreshes and returns a cached StatusSignal object.

Parameters:: refresh (bool) – Whether to refresh the StatusSignal before returning it; defaults to true
Returns:: StickyFault_StatorCurrLimit Status Signal Object
Return type:: StatusSignal[bool]

get_fault_supply_curr_limit(refresh: bool = True) → phoenix6.status_signal.StatusSignal[bool]¶

Supply current limit occured.

Default Rates:

CAN: 4.0 Hz

This refreshes and returns a cached StatusSignal object.

Parameters:: refresh (bool) – Whether to refresh the StatusSignal before returning it; defaults to true
Returns:: Fault_SupplyCurrLimit Status Signal Object
Return type:: StatusSignal[bool]

get_sticky_fault_supply_curr_limit(refresh: bool = True) → phoenix6.status_signal.StatusSignal[bool]¶

Supply current limit occured.

Default Rates:

CAN: 4.0 Hz

This refreshes and returns a cached StatusSignal object.

Parameters:: refresh (bool) – Whether to refresh the StatusSignal before returning it; defaults to true
Returns:: StickyFault_SupplyCurrLimit Status Signal Object
Return type:: StatusSignal[bool]

get_fault_using_fused_cancoder_while_unlicensed(refresh: bool = True) → 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.

Parameters:: refresh (bool) – Whether to refresh the StatusSignal before returning it; defaults to true
Returns:: Fault_UsingFusedCANcoderWhileUnlicensed Status Signal Object
Return type:: StatusSignal[bool]

get_sticky_fault_using_fused_cancoder_while_unlicensed(refresh: bool = True) → 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.

Parameters:: refresh (bool) – Whether to refresh the StatusSignal before returning it; defaults to true
Returns:: StickyFault_UsingFusedCANcoderWhileUnlicensed Status Signal Object
Return type:: StatusSignal[bool]

get_fault_static_brake_disabled(refresh: bool = True) → 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.

Parameters:: refresh (bool) – Whether to refresh the StatusSignal before returning it; defaults to true
Returns:: Fault_StaticBrakeDisabled Status Signal Object
Return type:: StatusSignal[bool]

get_sticky_fault_static_brake_disabled(refresh: bool = True) → 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.

Parameters:: refresh (bool) – Whether to refresh the StatusSignal before returning it; defaults to true
Returns:: StickyFault_StaticBrakeDisabled Status Signal Object
Return type:: StatusSignal[bool]

get_fault_bridge_short(refresh: bool = True) → phoenix6.status_signal.StatusSignal[bool]¶

Bridge was disabled most likely due to a short in the motor leads.

Default Rates:

CAN: 4.0 Hz

This refreshes and returns a cached StatusSignal object.

Parameters:: refresh (bool) – Whether to refresh the StatusSignal before returning it; defaults to true
Returns:: Fault_BridgeShort Status Signal Object
Return type:: StatusSignal[bool]

get_sticky_fault_bridge_short(refresh: bool = True) → phoenix6.status_signal.StatusSignal[bool]¶

Bridge was disabled most likely due to a short in the motor leads.

Default Rates:

CAN: 4.0 Hz

This refreshes and returns a cached StatusSignal object.

Parameters:: refresh (bool) – Whether to refresh the StatusSignal before returning it; defaults to true
Returns:: StickyFault_BridgeShort Status Signal Object
Return type:: StatusSignal[bool]

get_fault_hall_sensor_missing(refresh: bool = True) → phoenix6.status_signal.StatusSignal[bool]¶

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

Default Rates:

CAN: 4.0 Hz

This refreshes and returns a cached StatusSignal object.

Parameters:: refresh (bool) – Whether to refresh the StatusSignal before returning it; defaults to true
Returns:: Fault_HallSensorMissing Status Signal Object
Return type:: StatusSignal[bool]

get_sticky_fault_hall_sensor_missing(refresh: bool = True) → phoenix6.status_signal.StatusSignal[bool]¶

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

Default Rates:

CAN: 4.0 Hz

This refreshes and returns a cached StatusSignal object.

Parameters:: refresh (bool) – Whether to refresh the StatusSignal before returning it; defaults to true
Returns:: StickyFault_HallSensorMissing Status Signal Object
Return type:: StatusSignal[bool]

get_fault_drive_disabled_hall_sensor(refresh: bool = True) → phoenix6.status_signal.StatusSignal[bool]¶

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

Default Rates:

CAN: 4.0 Hz

This refreshes and returns a cached StatusSignal object.

Parameters:: refresh (bool) – Whether to refresh the StatusSignal before returning it; defaults to true
Returns:: Fault_DriveDisabledHallSensor Status Signal Object
Return type:: StatusSignal[bool]

get_sticky_fault_drive_disabled_hall_sensor(refresh: bool = True) → phoenix6.status_signal.StatusSignal[bool]¶

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

Default Rates:

CAN: 4.0 Hz

This refreshes and returns a cached StatusSignal object.

Parameters:: refresh (bool) – Whether to refresh the StatusSignal before returning it; defaults to true
Returns:: StickyFault_DriveDisabledHallSensor Status Signal Object
Return type:: StatusSignal[bool]

get_fault_motor_temp_sensor_missing(refresh: bool = True) → phoenix6.status_signal.StatusSignal[bool]¶

Motor temperature signal appears to not be connected.

Default Rates:

CAN: 4.0 Hz

This refreshes and returns a cached StatusSignal object.

Parameters:: refresh (bool) – Whether to refresh the StatusSignal before returning it; defaults to true
Returns:: Fault_MotorTempSensorMissing Status Signal Object
Return type:: StatusSignal[bool]

get_sticky_fault_motor_temp_sensor_missing(refresh: bool = True) → phoenix6.status_signal.StatusSignal[bool]¶

Motor temperature signal appears to not be connected.

Default Rates:

CAN: 4.0 Hz

This refreshes and returns a cached StatusSignal object.

Parameters:: refresh (bool) – Whether to refresh the StatusSignal before returning it; defaults to true
Returns:: StickyFault_MotorTempSensorMissing Status Signal Object
Return type:: StatusSignal[bool]

get_fault_motor_temp_sensor_too_hot(refresh: bool = True) → phoenix6.status_signal.StatusSignal[bool]¶

Motor temperature signal indicates motor is too hot.

Default Rates:

CAN: 4.0 Hz

This refreshes and returns a cached StatusSignal object.

Parameters:: refresh (bool) – Whether to refresh the StatusSignal before returning it; defaults to true
Returns:: Fault_MotorTempSensorTooHot Status Signal Object
Return type:: StatusSignal[bool]

get_sticky_fault_motor_temp_sensor_too_hot(refresh: bool = True) → phoenix6.status_signal.StatusSignal[bool]¶

Motor temperature signal indicates motor is too hot.

Default Rates:

CAN: 4.0 Hz

This refreshes and returns a cached StatusSignal object.

Parameters:: refresh (bool) – Whether to refresh the StatusSignal before returning it; defaults to true
Returns:: StickyFault_MotorTempSensorTooHot Status Signal Object
Return type:: StatusSignal[bool]

get_closed_loop_proportional_output(refresh: bool = True) → 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.

Parameters:: refresh (bool) – Whether to refresh the StatusSignal before returning it; defaults to true
Returns:: ClosedLoopProportionalOutput Status Signal object
Return type:: StatusSignal[float]

get_closed_loop_integrated_output(refresh: bool = True) → 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.

Parameters:: refresh (bool) – Whether to refresh the StatusSignal before returning it; defaults to true
Returns:: ClosedLoopIntegratedOutput Status Signal object
Return type:: StatusSignal[float]

get_closed_loop_feed_forward(refresh: bool = True) → 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.

Parameters:: refresh (bool) – Whether to refresh the StatusSignal before returning it; defaults to true
Returns:: ClosedLoopFeedForward Status Signal object
Return type:: StatusSignal[float]

get_closed_loop_derivative_output(refresh: bool = True) → 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.

Parameters:: refresh (bool) – Whether to refresh the StatusSignal before returning it; defaults to true
Returns:: ClosedLoopDerivativeOutput Status Signal object
Return type:: StatusSignal[float]

get_closed_loop_output(refresh: bool = True) → 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.

Parameters:: refresh (bool) – Whether to refresh the StatusSignal before returning it; defaults to true
Returns:: ClosedLoopOutput Status Signal object
Return type:: StatusSignal[float]

get_closed_loop_reference(refresh: bool = True) → 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.

Parameters:: refresh (bool) – Whether to refresh the StatusSignal before returning it; defaults to true
Returns:: ClosedLoopReference Status Signal object
Return type:: StatusSignal[float]

get_closed_loop_reference_slope(refresh: bool = True) → phoenix6.status_signal.StatusSignal[float]¶

Derivative of the target that the 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.

Parameters:: refresh (bool) – Whether to refresh the StatusSignal before returning it; defaults to true
Returns:: ClosedLoopReferenceSlope Status Signal object
Return type:: StatusSignal[float]

get_closed_loop_error(refresh: bool = True) → 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.

Parameters:: refresh (bool) – Whether to refresh the StatusSignal before returning it; defaults to true
Returns:: ClosedLoopError Status Signal object
Return type:: StatusSignal[float]

get_differential_output(refresh: bool = True) → 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.

Parameters:: refresh (bool) – Whether to refresh the StatusSignal before returning it; defaults to true
Returns:: DifferentialOutput Status Signal object
Return type:: StatusSignal[float]

get_differential_closed_loop_proportional_output(refresh: bool = True) → 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.

Parameters:: refresh (bool) – Whether to refresh the StatusSignal before returning it; defaults to true
Returns:: DifferentialClosedLoopProportionalOutput Status Signal object
Return type:: StatusSignal[float]

get_differential_closed_loop_integrated_output(refresh: bool = True) → 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.

Parameters:: refresh (bool) – Whether to refresh the StatusSignal before returning it; defaults to true
Returns:: DifferentialClosedLoopIntegratedOutput Status Signal object
Return type:: StatusSignal[float]

get_differential_closed_loop_feed_forward(refresh: bool = True) → 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.

Parameters:: refresh (bool) – Whether to refresh the StatusSignal before returning it; defaults to true
Returns:: DifferentialClosedLoopFeedForward Status Signal object
Return type:: StatusSignal[float]

get_differential_closed_loop_derivative_output(refresh: bool = True) → 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.

Parameters:: refresh (bool) – Whether to refresh the StatusSignal before returning it; defaults to true
Returns:: DifferentialClosedLoopDerivativeOutput Status Signal object
Return type:: StatusSignal[float]

get_differential_closed_loop_output(refresh: bool = True) → 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.

Parameters:: refresh (bool) – Whether to refresh the StatusSignal before returning it; defaults to true
Returns:: DifferentialClosedLoopOutput Status Signal object
Return type:: StatusSignal[float]

get_differential_closed_loop_reference(refresh: bool = True) → 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.

Parameters:: refresh (bool) – Whether to refresh the StatusSignal before returning it; defaults to true
Returns:: DifferentialClosedLoopReference Status Signal object
Return type:: StatusSignal[float]

get_differential_closed_loop_reference_slope(refresh: bool = True) → 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.

Parameters:: refresh (bool) – Whether to refresh the StatusSignal before returning it; defaults to true
Returns:: DifferentialClosedLoopReferenceSlope Status Signal object
Return type:: StatusSignal[float]

get_differential_closed_loop_error(refresh: bool = True) → 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.

Parameters:: refresh (bool) – Whether to refresh the StatusSignal before returning it; defaults to true
Returns:: DifferentialClosedLoopError Status Signal object
Return type:: StatusSignal[float]

set_control(request: phoenix6.controls.duty_cycle_out.DutyCycleOut) → phoenix6.status_signal.StatusCode¶

set_control(request: phoenix6.controls.voltage_out.VoltageOut) → phoenix6.status_signal.StatusCode

set_control(request: phoenix6.controls.position_duty_cycle.PositionDutyCycle) → phoenix6.status_signal.StatusCode

set_control(request: phoenix6.controls.position_voltage.PositionVoltage) → phoenix6.status_signal.StatusCode

set_control(request: phoenix6.controls.velocity_duty_cycle.VelocityDutyCycle) → phoenix6.status_signal.StatusCode

set_control(request: phoenix6.controls.velocity_voltage.VelocityVoltage) → phoenix6.status_signal.StatusCode

set_control(request: phoenix6.controls.motion_magic_duty_cycle.MotionMagicDutyCycle) → phoenix6.status_signal.StatusCode

set_control(request: phoenix6.controls.motion_magic_voltage.MotionMagicVoltage) → phoenix6.status_signal.StatusCode

set_control(request: phoenix6.controls.differential_duty_cycle.DifferentialDutyCycle) → phoenix6.status_signal.StatusCode

set_control(request: phoenix6.controls.differential_voltage.DifferentialVoltage) → phoenix6.status_signal.StatusCode

set_control(request: phoenix6.controls.differential_position_duty_cycle.DifferentialPositionDutyCycle) → phoenix6.status_signal.StatusCode

set_control(request: phoenix6.controls.differential_position_voltage.DifferentialPositionVoltage) → phoenix6.status_signal.StatusCode

set_control(request: phoenix6.controls.differential_velocity_duty_cycle.DifferentialVelocityDutyCycle) → phoenix6.status_signal.StatusCode

set_control(request: phoenix6.controls.differential_velocity_voltage.DifferentialVelocityVoltage) → phoenix6.status_signal.StatusCode

set_control(request: phoenix6.controls.differential_motion_magic_duty_cycle.DifferentialMotionMagicDutyCycle) → phoenix6.status_signal.StatusCode

set_control(request: phoenix6.controls.differential_motion_magic_voltage.DifferentialMotionMagicVoltage) → phoenix6.status_signal.StatusCode

set_control(request: phoenix6.controls.follower.Follower) → phoenix6.status_signal.StatusCode

set_control(request: phoenix6.controls.strict_follower.StrictFollower) → phoenix6.status_signal.StatusCode

set_control(request: phoenix6.controls.differential_follower.DifferentialFollower) → phoenix6.status_signal.StatusCode

set_control(request: phoenix6.controls.differential_strict_follower.DifferentialStrictFollower) → phoenix6.status_signal.StatusCode

set_control(request: phoenix6.controls.neutral_out.NeutralOut) → phoenix6.status_signal.StatusCode

set_control(request: phoenix6.controls.coast_out.CoastOut) → phoenix6.status_signal.StatusCode

set_control(request: phoenix6.controls.static_brake.StaticBrake) → phoenix6.status_signal.StatusCode

set_control(request: phoenix6.controls.motion_magic_velocity_duty_cycle.MotionMagicVelocityDutyCycle) → phoenix6.status_signal.StatusCode

set_control(request: phoenix6.controls.motion_magic_velocity_voltage.MotionMagicVelocityVoltage) → phoenix6.status_signal.StatusCode

set_control(request: phoenix6.controls.motion_magic_expo_duty_cycle.MotionMagicExpoDutyCycle) → phoenix6.status_signal.StatusCode

set_control(request: phoenix6.controls.motion_magic_expo_voltage.MotionMagicExpoVoltage) → phoenix6.status_signal.StatusCode

set_control(request: phoenix6.controls.dynamic_motion_magic_duty_cycle.DynamicMotionMagicDutyCycle) → phoenix6.status_signal.StatusCode

set_control(request: phoenix6.controls.dynamic_motion_magic_voltage.DynamicMotionMagicVoltage) → phoenix6.status_signal.StatusCode

set_control(request: phoenix6.controls.compound.diff_duty_cycle_out_position.Diff_DutyCycleOut_Position) → phoenix6.status_signal.StatusCode

set_control(request: phoenix6.controls.compound.diff_position_duty_cycle_position.Diff_PositionDutyCycle_Position) → phoenix6.status_signal.StatusCode

set_control(request: phoenix6.controls.compound.diff_velocity_duty_cycle_position.Diff_VelocityDutyCycle_Position) → phoenix6.status_signal.StatusCode

set_control(request: phoenix6.controls.compound.diff_motion_magic_duty_cycle_position.Diff_MotionMagicDutyCycle_Position) → phoenix6.status_signal.StatusCode

set_control(request: phoenix6.controls.compound.diff_duty_cycle_out_velocity.Diff_DutyCycleOut_Velocity) → phoenix6.status_signal.StatusCode

set_control(request: phoenix6.controls.compound.diff_position_duty_cycle_velocity.Diff_PositionDutyCycle_Velocity) → phoenix6.status_signal.StatusCode

set_control(request: phoenix6.controls.compound.diff_velocity_duty_cycle_velocity.Diff_VelocityDutyCycle_Velocity) → phoenix6.status_signal.StatusCode

set_control(request: phoenix6.controls.compound.diff_motion_magic_duty_cycle_velocity.Diff_MotionMagicDutyCycle_Velocity) → phoenix6.status_signal.StatusCode

set_control(request: phoenix6.controls.compound.diff_voltage_out_position.Diff_VoltageOut_Position) → phoenix6.status_signal.StatusCode

set_control(request: phoenix6.controls.compound.diff_position_voltage_position.Diff_PositionVoltage_Position) → phoenix6.status_signal.StatusCode

set_control(request: phoenix6.controls.compound.diff_velocity_voltage_position.Diff_VelocityVoltage_Position) → phoenix6.status_signal.StatusCode

set_control(request: phoenix6.controls.compound.diff_motion_magic_voltage_position.Diff_MotionMagicVoltage_Position) → phoenix6.status_signal.StatusCode

set_control(request: phoenix6.controls.compound.diff_voltage_out_velocity.Diff_VoltageOut_Velocity) → phoenix6.status_signal.StatusCode

set_control(request: phoenix6.controls.compound.diff_position_voltage_velocity.Diff_PositionVoltage_Velocity) → phoenix6.status_signal.StatusCode

set_control(request: phoenix6.controls.compound.diff_velocity_voltage_velocity.Diff_VelocityVoltage_Velocity) → phoenix6.status_signal.StatusCode

set_control(request: phoenix6.controls.compound.diff_motion_magic_voltage_velocity.Diff_MotionMagicVoltage_Velocity) → phoenix6.status_signal.StatusCode

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

Request a specified motor duty cycle.

This control mode will output a proportion of the supplied voltage which is supplied by the user.

Parameters:: request (DutyCycleOut) – Control object to request of the device
Returns:: Code response of the request
Return type:: StatusCode

set_position(new_value: phoenix6.units.rotation, timeout_seconds: phoenix6.units.second = 0.1) → 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 = 0.1) → 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 = 0.1) → 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 = 0.1) → 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 = 0.1) → 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 = 0.1) → 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 = 0.1) → 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_unlicensed_feature_in_use(timeout_seconds: phoenix6.units.second = 0.1) → phoenix6.status_signal.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_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 = 0.1) → 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 = 0.1) → phoenix6.status_signal.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_signal.StatusCode¶

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_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 = 0.1) → 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 = 0.1) → 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 = 0.1) → 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 = 0.1) → 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 = 0.1) → 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_missing_soft_limit_remote(timeout_seconds: phoenix6.units.second = 0.1) → phoenix6.status_signal.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_signal.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_signal.StatusCode¶

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_signal.StatusCode¶

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_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 = 0.1) → 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

clear_sticky_fault_using_fused_cancoder_while_unlicensed(timeout_seconds: phoenix6.units.second = 0.1) → phoenix6.status_signal.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_signal.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_signal.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_signal.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_signal.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_signal.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_signal.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

class phoenix6.hardware.core.CoreCANrange(device_id: int, canbus: str | phoenix6.canbus.CANBus = '')¶

Bases: phoenix6.hardware.parent_device.ParentDevice

Constructs a new CANrange object.

Parameters:

device_id (int) – ID of the device, as configured in Phoenix Tuner.
canbus (str | CANBus, 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.canrange_sim_state.CANrangeSimState¶

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:: CANrangeSimState

get_version_major(refresh: bool = True) → phoenix6.status_signal.StatusSignal[int]¶

App Major Version number.

Default Rates:

CAN: 4.0 Hz

This refreshes and returns a cached StatusSignal object.

Parameters:: refresh (bool) – Whether to refresh the StatusSignal before returning it; defaults to true
Returns:: VersionMajor Status Signal Object
Return type:: StatusSignal[int]

get_version_minor(refresh: bool = True) → phoenix6.status_signal.StatusSignal[int]¶

App Minor Version number.

Default Rates:

CAN: 4.0 Hz

This refreshes and returns a cached StatusSignal object.

Parameters:: refresh (bool) – Whether to refresh the StatusSignal before returning it; defaults to true
Returns:: VersionMinor Status Signal Object
Return type:: StatusSignal[int]

get_version_bugfix(refresh: bool = True) → phoenix6.status_signal.StatusSignal[int]¶

App Bugfix Version number.

Default Rates:

CAN: 4.0 Hz

This refreshes and returns a cached StatusSignal object.

Parameters:: refresh (bool) – Whether to refresh the StatusSignal before returning it; defaults to true
Returns:: VersionBugfix Status Signal Object
Return type:: StatusSignal[int]

get_version_build(refresh: bool = True) → phoenix6.status_signal.StatusSignal[int]¶

App Build Version number.

Default Rates:

CAN: 4.0 Hz

This refreshes and returns a cached StatusSignal object.

Parameters:: refresh (bool) – Whether to refresh the StatusSignal before returning it; defaults to true
Returns:: VersionBuild Status Signal Object
Return type:: StatusSignal[int]

get_version(refresh: bool = True) → phoenix6.status_signal.StatusSignal[int]¶

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.

Parameters:: refresh (bool) – Whether to refresh the StatusSignal before returning it; defaults to true
Returns:: Version Status Signal Object
Return type:: StatusSignal[int]

get_fault_field(refresh: bool = True) → phoenix6.status_signal.StatusSignal[int]¶

Integer representing all 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.

Parameters:: refresh (bool) – Whether to refresh the StatusSignal before returning it; defaults to true
Returns:: FaultField Status Signal Object
Return type:: StatusSignal[int]

get_sticky_fault_field(refresh: bool = True) → phoenix6.status_signal.StatusSignal[int]¶

Integer representing all (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.

Parameters:: refresh (bool) – Whether to refresh the StatusSignal before returning it; defaults to true
Returns:: StickyFaultField Status Signal Object
Return type:: StatusSignal[int]

get_is_pro_licensed(refresh: bool = True) → 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.

Parameters:: refresh (bool) – Whether to refresh the StatusSignal before returning it; defaults to true
Returns:: IsProLicensed Status Signal Object
Return type:: StatusSignal[bool]

get_supply_voltage(refresh: bool = True) → phoenix6.status_signal.StatusSignal[phoenix6.units.volt]¶

Measured supply voltage to the CANrange.

Default Rates:

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

This refreshes and returns a cached StatusSignal object.

Parameters:: refresh (bool) – Whether to refresh the StatusSignal before returning it; defaults to true
Returns:: SupplyVoltage Status Signal Object
Return type:: StatusSignal[volt]

get_distance(refresh: bool = True) → phoenix6.status_signal.StatusSignal[phoenix6.units.meter]¶

Distance to the nearest object in the configured field of view of the CANrange.

Default Rates:

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

This refreshes and returns a cached StatusSignal object.

Parameters:: refresh (bool) – Whether to refresh the StatusSignal before returning it; defaults to true
Returns:: Distance Status Signal Object
Return type:: StatusSignal[meter]

get_measurement_time(refresh: bool = True) → phoenix6.status_signal.StatusSignal[phoenix6.units.second]¶

Timestamp of the most recent measurements. This is not synchronized to any other clock source.

Users can use this to check when the measurements are updated.

Default Rates:

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

This refreshes and returns a cached StatusSignal object.

Parameters:: refresh (bool) – Whether to refresh the StatusSignal before returning it; defaults to true
Returns:: MeasurementTime Status Signal Object
Return type:: StatusSignal[second]

get_signal_strength(refresh: bool = True) → phoenix6.status_signal.StatusSignal[float]¶

Approximate signal strength of the measurement. A higher value indicates a higher strength of signal.

A value of ~2500 is typical when detecting an object under short-range conditions.

Default Rates:

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

This refreshes and returns a cached StatusSignal object.

Parameters:: refresh (bool) – Whether to refresh the StatusSignal before returning it; defaults to true
Returns:: SignalStrength Status Signal Object
Return type:: StatusSignal[float]

get_is_detected(refresh: bool = True) → phoenix6.status_signal.StatusSignal[bool]¶

Whether the CANrange detects an object using the configured proximity parameters.

Default Rates:

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

This refreshes and returns a cached StatusSignal object.

Parameters:: refresh (bool) – Whether to refresh the StatusSignal before returning it; defaults to true
Returns:: IsDetected Status Signal Object
Return type:: StatusSignal[bool]

get_measurement_health(refresh: bool = True) → phoenix6.status_signal.StatusSignal[phoenix6.signals.spn_enums.MeasurementHealthValue]¶

Health of the distance measurement.

Default Rates:

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

This refreshes and returns a cached StatusSignal object.

Parameters:: refresh (bool) – Whether to refresh the StatusSignal before returning it; defaults to true
Returns:: MeasurementHealth Status Signal Object
Return type:: StatusSignal[MeasurementHealthValue]

get_ambient_signal(refresh: bool = True) → phoenix6.status_signal.StatusSignal[float]¶

The amount of ambient infrared light that the sensor is detecting. For ideal operation, this should be as low as possible.

Short-range mode reduces the influence of ambient infrared light.

Default Rates:

CAN 2.0: 20.0 Hz
CAN FD: 100.0 Hz (TimeSynced with Pro)

This refreshes and returns a cached StatusSignal object.

Parameters:: refresh (bool) – Whether to refresh the StatusSignal before returning it; defaults to true
Returns:: AmbientSignal Status Signal Object
Return type:: StatusSignal[float]

get_distance_std_dev(refresh: bool = True) → phoenix6.status_signal.StatusSignal[phoenix6.units.meter]¶

Standard Deviation of the distance measurement.

Default Rates:

CAN 2.0: 20.0 Hz
CAN FD: 100.0 Hz (TimeSynced with Pro)

This refreshes and returns a cached StatusSignal object.

Parameters:: refresh (bool) – Whether to refresh the StatusSignal before returning it; defaults to true
Returns:: DistanceStdDev Status Signal Object
Return type:: StatusSignal[meter]

get_real_fov_center_x(refresh: bool = True) → phoenix6.status_signal.StatusSignal[phoenix6.units.degree]¶

The actual center of the FOV in the X direction. This takes into account the user-configured FOVCenterX and FOVRangeX.

Default Rates:

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

This refreshes and returns a cached StatusSignal object.

Parameters:: refresh (bool) – Whether to refresh the StatusSignal before returning it; defaults to true
Returns:: RealFOVCenterX Status Signal Object
Return type:: StatusSignal[degree]

get_real_fov_center_y(refresh: bool = True) → phoenix6.status_signal.StatusSignal[phoenix6.units.degree]¶

The actual center of the FOV in the Y direction. This takes into account the user-configured FOVCenterY and FOVRangeY.

Default Rates:

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

This refreshes and returns a cached StatusSignal object.

Parameters:: refresh (bool) – Whether to refresh the StatusSignal before returning it; defaults to true
Returns:: RealFOVCenterY Status Signal Object
Return type:: StatusSignal[degree]

get_real_fov_range_x(refresh: bool = True) → phoenix6.status_signal.StatusSignal[phoenix6.units.degree]¶

The actual range of the FOV in the X direction. This takes into account the user-configured FOVRangeX.

Default Rates:

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

This refreshes and returns a cached StatusSignal object.

Parameters:: refresh (bool) – Whether to refresh the StatusSignal before returning it; defaults to true
Returns:: RealFOVRangeX Status Signal Object
Return type:: StatusSignal[degree]

get_real_fov_range_y(refresh: bool = True) → phoenix6.status_signal.StatusSignal[phoenix6.units.degree]¶

The actual range of the FOV in the Y direction. This takes into account the user-configured FOVRangeY.

Default Rates:

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

This refreshes and returns a cached StatusSignal object.

Parameters:: refresh (bool) – Whether to refresh the StatusSignal before returning it; defaults to true
Returns:: RealFOVRangeY Status Signal Object
Return type:: StatusSignal[degree]

get_fault_hardware(refresh: bool = True) → phoenix6.status_signal.StatusSignal[bool]¶

Hardware fault occurred

Default Rates:

CAN: 4.0 Hz

This refreshes and returns a cached StatusSignal object.

Parameters:: refresh (bool) – Whether to refresh the StatusSignal before returning it; defaults to true
Returns:: Fault_Hardware Status Signal Object
Return type:: StatusSignal[bool]

get_sticky_fault_hardware(refresh: bool = True) → phoenix6.status_signal.StatusSignal[bool]¶

Hardware fault occurred

Default Rates:

CAN: 4.0 Hz

This refreshes and returns a cached StatusSignal object.

Parameters:: refresh (bool) – Whether to refresh the StatusSignal before returning it; defaults to true
Returns:: StickyFault_Hardware Status Signal Object
Return type:: StatusSignal[bool]

get_fault_undervoltage(refresh: bool = True) → 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.

Parameters:: refresh (bool) – Whether to refresh the StatusSignal before returning it; defaults to true
Returns:: Fault_Undervoltage Status Signal Object
Return type:: StatusSignal[bool]

get_sticky_fault_undervoltage(refresh: bool = True) → 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.

Parameters:: refresh (bool) – Whether to refresh the StatusSignal before returning it; defaults to true
Returns:: StickyFault_Undervoltage Status Signal Object
Return type:: StatusSignal[bool]

get_fault_boot_during_enable(refresh: bool = True) → 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.

Parameters:: refresh (bool) – Whether to refresh the StatusSignal before returning it; defaults to true
Returns:: Fault_BootDuringEnable Status Signal Object
Return type:: StatusSignal[bool]

get_sticky_fault_boot_during_enable(refresh: bool = True) → 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.

Parameters:: refresh (bool) – Whether to refresh the StatusSignal before returning it; defaults to true
Returns:: StickyFault_BootDuringEnable Status Signal Object
Return type:: StatusSignal[bool]

get_fault_unlicensed_feature_in_use(refresh: bool = True) → 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.

Parameters:: refresh (bool) – Whether to refresh the StatusSignal before returning it; defaults to true
Returns:: Fault_UnlicensedFeatureInUse Status Signal Object
Return type:: StatusSignal[bool]

get_sticky_fault_unlicensed_feature_in_use(refresh: bool = True) → 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.

Parameters:: refresh (bool) – Whether to refresh the StatusSignal before returning it; defaults to true
Returns:: StickyFault_UnlicensedFeatureInUse Status Signal Object
Return type:: StatusSignal[bool]

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

clear_sticky_faults(timeout_seconds: phoenix6.units.second = 0.1) → 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 = 0.1) → 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 = 0.1) → 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 = 0.1) → 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_unlicensed_feature_in_use(timeout_seconds: phoenix6.units.second = 0.1) → phoenix6.status_signal.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

class phoenix6.hardware.core.CoreCANdi(device_id: int, canbus: str | phoenix6.canbus.CANBus = '')¶

Bases: phoenix6.hardware.parent_device.ParentDevice

Constructs a new CANdi object.

Parameters:

device_id (int) – ID of the device, as configured in Phoenix Tuner.
canbus (str | CANBus, 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.candi_sim_state.CANdiSimState¶

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:: CANdiSimState

get_version_major(refresh: bool = True) → phoenix6.status_signal.StatusSignal[int]¶

App Major Version number.

Default Rates:

CAN: 4.0 Hz

This refreshes and returns a cached StatusSignal object.

Parameters:: refresh (bool) – Whether to refresh the StatusSignal before returning it; defaults to true
Returns:: VersionMajor Status Signal Object
Return type:: StatusSignal[int]

get_version_minor(refresh: bool = True) → phoenix6.status_signal.StatusSignal[int]¶

App Minor Version number.

Default Rates:

CAN: 4.0 Hz

This refreshes and returns a cached StatusSignal object.

Parameters:: refresh (bool) – Whether to refresh the StatusSignal before returning it; defaults to true
Returns:: VersionMinor Status Signal Object
Return type:: StatusSignal[int]

get_version_bugfix(refresh: bool = True) → phoenix6.status_signal.StatusSignal[int]¶

App Bugfix Version number.

Default Rates:

CAN: 4.0 Hz

This refreshes and returns a cached StatusSignal object.

Parameters:: refresh (bool) – Whether to refresh the StatusSignal before returning it; defaults to true
Returns:: VersionBugfix Status Signal Object
Return type:: StatusSignal[int]

get_version_build(refresh: bool = True) → phoenix6.status_signal.StatusSignal[int]¶

App Build Version number.

Default Rates:

CAN: 4.0 Hz

This refreshes and returns a cached StatusSignal object.

Parameters:: refresh (bool) – Whether to refresh the StatusSignal before returning it; defaults to true
Returns:: VersionBuild Status Signal Object
Return type:: StatusSignal[int]

get_version(refresh: bool = True) → phoenix6.status_signal.StatusSignal[int]¶

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.

Parameters:: refresh (bool) – Whether to refresh the StatusSignal before returning it; defaults to true
Returns:: Version Status Signal Object
Return type:: StatusSignal[int]

get_fault_field(refresh: bool = True) → phoenix6.status_signal.StatusSignal[int]¶

Integer representing all 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.

Parameters:: refresh (bool) – Whether to refresh the StatusSignal before returning it; defaults to true
Returns:: FaultField Status Signal Object
Return type:: StatusSignal[int]

get_sticky_fault_field(refresh: bool = True) → phoenix6.status_signal.StatusSignal[int]¶

Integer representing all (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.

Parameters:: refresh (bool) – Whether to refresh the StatusSignal before returning it; defaults to true
Returns:: StickyFaultField Status Signal Object
Return type:: StatusSignal[int]

get_is_pro_licensed(refresh: bool = True) → 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.

Parameters:: refresh (bool) – Whether to refresh the StatusSignal before returning it; defaults to true
Returns:: IsProLicensed Status Signal Object
Return type:: StatusSignal[bool]

get_s1_state(refresh: bool = True) → phoenix6.status_signal.StatusSignal[phoenix6.signals.spn_enums.S1StateValue]¶

State of the Signal 1 input (S1IN).

Default Rates:

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

This refreshes and returns a cached StatusSignal object.

Parameters:: refresh (bool) – Whether to refresh the StatusSignal before returning it; defaults to true
Returns:: S1State Status Signal Object
Return type:: StatusSignal[S1StateValue]

get_s2_state(refresh: bool = True) → phoenix6.status_signal.StatusSignal[phoenix6.signals.spn_enums.S2StateValue]¶

State of the Signal 2 input (S2IN).

Default Rates:

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

This refreshes and returns a cached StatusSignal object.

Parameters:: refresh (bool) – Whether to refresh the StatusSignal before returning it; defaults to true
Returns:: S2State Status Signal Object
Return type:: StatusSignal[S2StateValue]

get_quadrature_position(refresh: bool = True) → phoenix6.status_signal.StatusSignal[phoenix6.units.rotation]¶

Position from a quadrature encoder sensor connected to both the S1IN and S2IN inputs.

Default Rates:

CAN 2.0: 20.0 Hz
CAN FD: 100.0 Hz (TimeSynced with Pro)

This refreshes and returns a cached StatusSignal object.

Parameters:: refresh (bool) – Whether to refresh the StatusSignal before returning it; defaults to true
Returns:: QuadraturePosition Status Signal Object
Return type:: StatusSignal[rotation]

get_pwm1_rise_to_rise(refresh: bool = True) → phoenix6.status_signal.StatusSignal[phoenix6.units.microsecond]¶

Measured rise to rise time of the PWM signal at the S1 input of CANdi.

Default Rates:

CAN 2.0: 20.0 Hz
CAN FD: 100.0 Hz (TimeSynced with Pro)

This refreshes and returns a cached StatusSignal object.

Parameters:: refresh (bool) – Whether to refresh the StatusSignal before returning it; defaults to true
Returns:: PWM1RiseToRise Status Signal Object
Return type:: StatusSignal[microsecond]

get_pwm1_position(refresh: bool = True) → phoenix6.status_signal.StatusSignal[phoenix6.units.rotation]¶

Measured position of the PWM sensor at the S1 input of CANdi.

Default Rates:

CAN 2.0: 20.0 Hz
CAN FD: 100.0 Hz (TimeSynced with Pro)

This refreshes and returns a cached StatusSignal object.

Parameters:: refresh (bool) – Whether to refresh the StatusSignal before returning it; defaults to true
Returns:: PWM1Position Status Signal Object
Return type:: StatusSignal[rotation]

get_pwm1_velocity(refresh: bool = True) → phoenix6.status_signal.StatusSignal[phoenix6.units.rotations_per_second]¶

Measured velocity of the PWM sensor at the S1 input of CANdi.

Default Rates:

CAN 2.0: 20.0 Hz
CAN FD: 100.0 Hz (TimeSynced with Pro)

This refreshes and returns a cached StatusSignal object.

Parameters:: refresh (bool) – Whether to refresh the StatusSignal before returning it; defaults to true
Returns:: PWM1Velocity Status Signal Object
Return type:: StatusSignal[rotations_per_second]

get_pwm2_rise_to_rise(refresh: bool = True) → phoenix6.status_signal.StatusSignal[phoenix6.units.microsecond]¶

Measured rise to rise time of the PWM signal at the S2 input of CANdi.

Default Rates:

CAN 2.0: 20.0 Hz
CAN FD: 100.0 Hz (TimeSynced with Pro)

This refreshes and returns a cached StatusSignal object.

Parameters:: refresh (bool) – Whether to refresh the StatusSignal before returning it; defaults to true
Returns:: PWM2RiseToRise Status Signal Object
Return type:: StatusSignal[microsecond]

get_pwm2_position(refresh: bool = True) → phoenix6.status_signal.StatusSignal[phoenix6.units.rotation]¶

Measured position of the PWM sensor at the S2 input of CANdi.

Default Rates:

CAN 2.0: 20.0 Hz
CAN FD: 100.0 Hz (TimeSynced with Pro)

This refreshes and returns a cached StatusSignal object.

Parameters:: refresh (bool) – Whether to refresh the StatusSignal before returning it; defaults to true
Returns:: PWM2Position Status Signal Object
Return type:: StatusSignal[rotation]

get_overcurrent(refresh: bool = True) → phoenix6.status_signal.StatusSignal[bool]¶

True when the CANdi is in overcurrent protection mode. This may be due to either overcurrent or a short-circuit.

Default Rates:

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

This refreshes and returns a cached StatusSignal object.

Parameters:: refresh (bool) – Whether to refresh the StatusSignal before returning it; defaults to true
Returns:: Overcurrent Status Signal Object
Return type:: StatusSignal[bool]

get_supply_voltage(refresh: bool = True) → phoenix6.status_signal.StatusSignal[phoenix6.units.volt]¶

Measured supply voltage to the CANdi.

Default Rates:

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

This refreshes and returns a cached StatusSignal object.

Parameters:: refresh (bool) – Whether to refresh the StatusSignal before returning it; defaults to true
Returns:: SupplyVoltage Status Signal Object
Return type:: StatusSignal[volt]

get_output_current(refresh: bool = True) → phoenix6.status_signal.StatusSignal[phoenix6.units.ampere]¶

Measured output current. This includes both Vbat and 5V output current.

Default Rates:

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

This refreshes and returns a cached StatusSignal object.

Parameters:: refresh (bool) – Whether to refresh the StatusSignal before returning it; defaults to true
Returns:: OutputCurrent Status Signal Object
Return type:: StatusSignal[ampere]

get_pwm2_velocity(refresh: bool = True) → phoenix6.status_signal.StatusSignal[phoenix6.units.rotations_per_second]¶

Measured velocity of the PWM sensor at the S2 input of CANdi.

Default Rates:

CAN 2.0: 20.0 Hz
CAN FD: 100.0 Hz (TimeSynced with Pro)

This refreshes and returns a cached StatusSignal object.

Parameters:: refresh (bool) – Whether to refresh the StatusSignal before returning it; defaults to true
Returns:: PWM2Velocity Status Signal Object
Return type:: StatusSignal[rotations_per_second]

get_quadrature_velocity(refresh: bool = True) → phoenix6.status_signal.StatusSignal[phoenix6.units.rotations_per_second]¶

Velocity from a quadrature encoder sensor connected to both the S1IN and S2IN inputs.

Default Rates:

CAN 2.0: 20.0 Hz
CAN FD: 100.0 Hz (TimeSynced with Pro)

This refreshes and returns a cached StatusSignal object.

Parameters:: refresh (bool) – Whether to refresh the StatusSignal before returning it; defaults to true
Returns:: QuadratureVelocity Status Signal Object
Return type:: StatusSignal[rotations_per_second]

get_s1_closed(refresh: bool = True) → phoenix6.status_signal.StatusSignal[bool]¶

True if the Signal 1 input (S1IN) matches the configured S1 Closed State.

Configure the S1 closed state in the Digitals configuration object to change when this is asserted.

Default Rates:

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

This refreshes and returns a cached StatusSignal object.

Parameters:: refresh (bool) – Whether to refresh the StatusSignal before returning it; defaults to true
Returns:: S1Closed Status Signal Object
Return type:: StatusSignal[bool]

get_s2_closed(refresh: bool = True) → phoenix6.status_signal.StatusSignal[bool]¶

True if the Signal 2 input (S2IN) matches the configured S2 Closed State.

Configure the S2 closed state in the Digitals configuration object to change when this is asserted.

Default Rates:

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

This refreshes and returns a cached StatusSignal object.

Parameters:: refresh (bool) – Whether to refresh the StatusSignal before returning it; defaults to true
Returns:: S2Closed Status Signal Object
Return type:: StatusSignal[bool]

get_fault_hardware(refresh: bool = True) → phoenix6.status_signal.StatusSignal[bool]¶

Hardware fault occurred

Default Rates:

CAN: 4.0 Hz

This refreshes and returns a cached StatusSignal object.

Parameters:: refresh (bool) – Whether to refresh the StatusSignal before returning it; defaults to true
Returns:: Fault_Hardware Status Signal Object
Return type:: StatusSignal[bool]

get_sticky_fault_hardware(refresh: bool = True) → phoenix6.status_signal.StatusSignal[bool]¶

Hardware fault occurred

Default Rates:

CAN: 4.0 Hz

This refreshes and returns a cached StatusSignal object.

Parameters:: refresh (bool) – Whether to refresh the StatusSignal before returning it; defaults to true
Returns:: StickyFault_Hardware Status Signal Object
Return type:: StatusSignal[bool]

get_fault_undervoltage(refresh: bool = True) → 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.

Parameters:: refresh (bool) – Whether to refresh the StatusSignal before returning it; defaults to true
Returns:: Fault_Undervoltage Status Signal Object
Return type:: StatusSignal[bool]

get_sticky_fault_undervoltage(refresh: bool = True) → 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.

Parameters:: refresh (bool) – Whether to refresh the StatusSignal before returning it; defaults to true
Returns:: StickyFault_Undervoltage Status Signal Object
Return type:: StatusSignal[bool]

get_fault_boot_during_enable(refresh: bool = True) → 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.

Parameters:: refresh (bool) – Whether to refresh the StatusSignal before returning it; defaults to true
Returns:: Fault_BootDuringEnable Status Signal Object
Return type:: StatusSignal[bool]

get_sticky_fault_boot_during_enable(refresh: bool = True) → 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.

Parameters:: refresh (bool) – Whether to refresh the StatusSignal before returning it; defaults to true
Returns:: StickyFault_BootDuringEnable Status Signal Object
Return type:: StatusSignal[bool]

get_fault_unlicensed_feature_in_use(refresh: bool = True) → 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.

Parameters:: refresh (bool) – Whether to refresh the StatusSignal before returning it; defaults to true
Returns:: Fault_UnlicensedFeatureInUse Status Signal Object
Return type:: StatusSignal[bool]

get_sticky_fault_unlicensed_feature_in_use(refresh: bool = True) → 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.

Parameters:: refresh (bool) – Whether to refresh the StatusSignal before returning it; defaults to true
Returns:: StickyFault_UnlicensedFeatureInUse Status Signal Object
Return type:: StatusSignal[bool]

get_fault_5_v(refresh: bool = True) → phoenix6.status_signal.StatusSignal[bool]¶

CANdi has detected a 5V fault. This may be due to overcurrent or a short-circuit.

Default Rates:

CAN: 4.0 Hz

This refreshes and returns a cached StatusSignal object.

Parameters:: refresh (bool) – Whether to refresh the StatusSignal before returning it; defaults to true
Returns:: Fault_5V Status Signal Object
Return type:: StatusSignal[bool]

get_sticky_fault_5_v(refresh: bool = True) → phoenix6.status_signal.StatusSignal[bool]¶

CANdi has detected a 5V fault. This may be due to overcurrent or a short-circuit.

Default Rates:

CAN: 4.0 Hz

This refreshes and returns a cached StatusSignal object.

Parameters:: refresh (bool) – Whether to refresh the StatusSignal before returning it; defaults to true
Returns:: StickyFault_5V Status Signal Object
Return type:: StatusSignal[bool]

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

set_quadrature_position(new_value: phoenix6.units.rotation, timeout_seconds: phoenix6.units.second = 0.1) → phoenix6.status_signal.StatusCode¶

Sets the position of the quadrature input.

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_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 = 0.1) → 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 = 0.1) → 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 = 0.1) → 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_unlicensed_feature_in_use(timeout_seconds: phoenix6.units.second = 0.1) → phoenix6.status_signal.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_5_v(timeout_seconds: phoenix6.units.second = 0.1) → phoenix6.status_signal.StatusCode¶

Clear sticky fault: CANdi has detected a 5V fault. This may be due to overcurrent or a short-circuit.

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

phoenix6.hardware.core¶

Submodules¶

Package Contents¶

`phoenix6.hardware.core`¶