phoenix6.hardware

Subpackages

Submodules

Package Contents

class phoenix6.hardware.ParentDevice(device_id: int, model: str, canbus: str)

Base class of Phoenix devices. This holds the base information for the devices, and can be used as a generic type to hold onto a collection of multiple devices.

property device_id: int

Gets the ID of this device.

Returns:

ID of this device

Return type:

int

property network: str

Gets the name of the network this device is on.

Returns:

Name of the network this device is on

Return type:

str

property device_hash: int

Gets a number unique for this device’s hardware type and ID. This number is not unique across networks.

This can be used to easily reference hardware devices on the same network in collections such as maps.

Returns:

Hash of this device

Return type:

int

property control_request: SupportsSendRequest

Get the latest applied control.

Returns:

Latest applied control

Return type:

SupportsSendRequest

property has_reset_occurred: bool

Check if the device has reset since the previous call to this routine

Returns:

True if device has reset

Return type:

bool

property is_connected: bool

Returns whether the device is still connected to the robot. This is equivalent to refreshing and checking the latency of the Version status signal.

Parameters:

max_latency_seconds (float) – The maximum latency of the Version status signal before the device is reported as disconnected

Returns:

True if the device is connected

Return type:

bool

get_reset_occurred_checker() → Callable[[], bool]

Get a lambda that checks for device resets.

Returns:

A lambda that checks for device resets

Return type:

Callable[[], bool]

optimize_bus_utilization(optimized_freq_hz: phoenix6.units.hertz = 0.0, timeout_seconds: phoenix6.units.second = 0.1) → phoenix6.status_code.StatusCode

Optimizes the device’s bus utilization by reducing the update frequencies of its status signals.

All status signals that have not been explicitly gven an update frequency using BaseStatusSignal.set_update_frequency will be disabled. Note that if other status signals in the same frame have been given an update frequency, the update frequency will be honored for the entire frame.

This function only needs to be called once on this device in the robot program. Additionally, this method does not necessarily need to be called after setting the update frequencies of other signals.

To restore the default status update frequencies, call reset_signal_frequencies. Alternatively, remove this method call, redeploy the robot application, and power-cycle the device on the bus. The user can also override individual status update frequencies using BaseStatusSignal.set_update_frequency.

Parameters:

  • optimized_freq_hz (hertz, optional) – The update frequency to apply to the optimized status signals. A frequency of 0 Hz (default) will turn off the signals. Otherwise, the minimum supported signal frequency is 4 Hz.

  • timeout_seconds (second, optional) – Maximum amount of time to wait for each status frame when performing the action

Returns:

Status code of the first failed update frequency set call, or OK if all succeeded.

Return type:

StatusCode

static optimize_bus_utilization_for_all(*devices: ParentDevice | list[ParentDevice], optimized_freq_hz: phoenix6.units.hertz = 0.0) → phoenix6.status_code.StatusCode

Optimizes the bus utilization of the provided devices by reducing the update frequencies of their status signals.

All status signals that have not been explicitly given an update frequency using BaseStatusSignal.set_update_frequency will be disabled. Note that if other status signals in the same status frame have been given an update frequency, the update frequency will be honored for the entire frame.

This function only needs to be called once in the robot program for the provided devices. Additionally, this method does not necessarily need to be called after setting the update frequencies of other signals.

To restore the default status update frequencies, call reset_signal_frequencies_for_all. Alternatively, remove this method call, redeploy the robot application, and power-cycle the devices on the bus. The user can also override individual status update frequencies using BaseStatusSignal.set_update_frequency.

This will wait up to 0.100 seconds (100ms) for each status frame.

Parameters:

  • devices (tuple[ParentDevice | list[ParentDevice], ...]) – Devices for which to optimize bus utilization.

  • optimized_freq_hz (hertz, optional) – The update frequency to apply to the optimized status signals. A frequency of 0 Hz (default) will turn off the signals. Otherwise, the minimum supported signal frequency is 4 Hz. This must be specified using a named parameter at the end of the parameter list.

Returns:

Status code of the first failed optimize call, or OK if all succeeded

Return type:

StatusCode

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

Resets the update frequencies of all the device’s status signals to the defaults.

This restores the default update frequency of all status signals, including status signals explicitly given an update frequency using BaseStatusSignal.set_update_frequency and status signals optimized out using optimize_bus_utilization.

Parameters:

timeout_seconds (second, optional) – Maximum amount of time to wait for each status frame when performing the action

Returns:

Status code of the first failed update frequency set call, or OK if all succeeded.

Return type:

StatusCode

static reset_signal_frequencies_for_all(*devices: ParentDevice | list[ParentDevice]) → phoenix6.status_code.StatusCode

Resets the update frequencies of all the devices’ status signals to the defaults.

This restores the default update frequency of all status signals, including status signals explicitly given an update frequency using BaseStatusSignal.set_update_frequency and status signals optimized out using optimize_bus_utilization_for_all.

This will wait up to 0.100 seconds (100ms) for each status frame.

Parameters:

devices (tuple[ParentDevice | list[ParentDevice], ...]) – Devices for which to restore default update frequencies.

Returns:

Status code of the first failed restore call, or OK if all succeeded

Return type:

StatusCode

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

Bases: phoenix6.hardware.core.core_talon_fx.CoreTalonFX, wpiutil.Sendable

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

close()
set(speed: float)

Common interface for setting the speed of a motor controller.

Parameters:

speed (float) – The speed to set. Value should be between -1.0 and 1.0.

setVoltage(volts: wpimath.units.volts)

Common interface for seting the direct voltage output of a motor controller.

Parameters:

volts (units.volts) – The voltage to output.

get() → float

Common interface for getting the current set speed of a motor controller.

Returns:

The current set speed. Value is between -1.0 and 1.0.

Return type:

float

disable()

Common interface for disabling a motor controller.

stopMotor()

Common interface to stop motor movement until set is called again.

setNeutralMode(neutralMode: phoenix6.signals.NeutralModeValue, timeout_seconds: wpimath.units.seconds = 0.1) → phoenix6.status_code.StatusCode

Sets the mode of operation when output is neutral or disabled. This is equivalent to setting the MotorOutputConfigs.neutral_mode when applying a TalonFXConfiguration to the motor.

Since neutral mode is a config, this API is blocking. We recommend that users avoid calling this API periodically.

Parameters:

  • neutralMode (signals.NeutralModeValue) – The state of the motor controller bridge when output is neutral or disabled

  • timeout_seconds (units.seconds) – Maximum amount of time to wait when performing configuration

Returns:

Status of refreshing and applying the neutral mode config

Return type:

StatusCode

initSendable(builder: wpiutil.SendableBuilder)

Initializes this Sendable object.

Parameters:

builder – sendable builder

getDescription() → str
Returns:

Description of motor

Return type:

str

feed()
setExpiration(expirationTime: wpimath.units.seconds)

Set the expiration time for the corresponding motor safety object.

Parameters:

expirationTime (units.seconds) – The timeout value in seconds.

getExpiration() → wpimath.units.seconds

Retrieve the timeout value for the corresponding motor safety object.

Returns:

the timeout value in seconds.

Return type:

units.seconds

isAlive() → bool

Determine of the motor is still operating or has timed out.

Returns:

a True value if the motor is still operating normally and hasn’t timed out

Return type:

bool

setSafetyEnabled(enabled: bool)

Enable/disable motor safety for this device.

Turn on and off the motor safety option for this object.

Parameters:

enabled (bool) – True if motor safety is enforced for this object.

isSafetyEnabled() → bool

Return the state of the motor safety enabled flag.

Return if the motor safety is currently enabled for this device.

Returns:

True if motor safety is enforced for this device

Return type:

bool

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

Bases: phoenix6.hardware.core.core_cancoder.CoreCANcoder, wpiutil.Sendable

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

close()
initSendable(builder: wpiutil.SendableBuilder)

Initializes this Sendable object.

Parameters:

builder – sendable builder

class phoenix6.hardware.Pigeon2(device_id: int, canbus: str | phoenix6.canbus.CANBus = '')

Bases: phoenix6.hardware.core.core_pigeon2.CorePigeon2, wpiutil.Sendable

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

close()
reset()

Resets the Pigeon 2 to a heading of zero.

This can be used if there is significant drift in the gyro, and it needs to be recalibrated after it has been running.

getRotation2d() → wpimath.geometry.Rotation2d

Returns the heading of the robot as a Rotation2d.

The angle increases as the Pigeon 2 turns counterclockwise when looked at from the top. This follows the NWU axis convention.

The angle is continuous; that is, it will continue from 360 to 361 degrees. This allows for algorithms that wouldn’t want to see a discontinuity in the gyro output as it sweeps past from 360 to 0 on the second time around.

Returns:

The current heading of the robot as a Rotation2d

Return type:

Rotation2d

getRotation3d() → wpimath.geometry.Rotation3d

Returns the orientation of the robot as a Rotation3d created from the quaternion signals.

Returns:

The current orientation of the robot as a Rotation3d

Return type:

Rotation3d

initSendable(builder: wpiutil.SendableBuilder)

Initializes this Sendable object.

Parameters:

builder – sendable builder

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

Bases: phoenix6.hardware.core.core_talon_fxs.CoreTalonFXS, wpiutil.Sendable

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

close()
set(speed: float)

Common interface for setting the speed of a motor controller.

Parameters:

speed (float) – The speed to set. Value should be between -1.0 and 1.0.

setVoltage(volts: wpimath.units.volts)

Common interface for seting the direct voltage output of a motor controller.

Parameters:

volts (units.volts) – The voltage to output.

get() → float

Common interface for getting the current set speed of a motor controller.

Returns:

The current set speed. Value is between -1.0 and 1.0.

Return type:

float

disable()

Common interface for disabling a motor controller.

stopMotor()

Common interface to stop motor movement until set is called again.

setNeutralMode(neutralMode: phoenix6.signals.NeutralModeValue, timeout_seconds: wpimath.units.seconds = 0.1) → phoenix6.status_code.StatusCode

Sets the mode of operation when output is neutral or disabled. This is equivalent to setting the MotorOutputConfigs.neutral_mode when applying a TalonFXSConfiguration to the motor.

Since neutral mode is a config, this API is blocking. We recommend that users avoid calling this API periodically.

Parameters:

  • neutralMode (signals.NeutralModeValue) – The state of the motor controller bridge when output is neutral or disabled

  • timeout_seconds (units.seconds) – Maximum amount of time to wait when performing configuration

Returns:

Status of refreshing and applying the neutral mode config

Return type:

StatusCode

initSendable(builder: wpiutil.SendableBuilder)

Initializes this Sendable object.

Parameters:

builder – sendable builder

getDescription() → str
Returns:

Description of motor

Return type:

str

feed()
setExpiration(expirationTime: wpimath.units.seconds)

Set the expiration time for the corresponding motor safety object.

Parameters:

expirationTime (units.seconds) – The timeout value in seconds.

getExpiration() → wpimath.units.seconds

Retrieve the timeout value for the corresponding motor safety object.

Returns:

the timeout value in seconds.

Return type:

units.seconds

isAlive() → bool

Determine of the motor is still operating or has timed out.

Returns:

a True value if the motor is still operating normally and hasn’t timed out

Return type:

bool

setSafetyEnabled(enabled: bool)

Enable/disable motor safety for this device.

Turn on and off the motor safety option for this object.

Parameters:

enabled (bool) – True if motor safety is enforced for this object.

isSafetyEnabled() → bool

Return the state of the motor safety enabled flag.

Return if the motor safety is currently enabled for this device.

Returns:

True if motor safety is enforced for this device

Return type:

bool

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

Bases: phoenix6.hardware.core.core_canrange.CoreCANrange, wpiutil.Sendable

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

close()
initSendable(builder: wpiutil.SendableBuilder)

Initializes this Sendable object.

Parameters:

builder – sendable builder

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

Bases: phoenix6.hardware.core.core_candi.CoreCANdi, wpiutil.Sendable

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

close()
initSendable(builder: wpiutil.SendableBuilder)

Initializes this Sendable object.

Parameters:

builder – sendable builder

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

Bases: phoenix6.hardware.core.core_candle.CoreCANdle, wpiutil.Sendable

Constructs a new CANdle 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

close()
initSendable(builder: wpiutil.SendableBuilder)

Initializes this Sendable object.

Parameters:

builder – sendable builder