phoenix6.hardware.talon_fxs

Module Contents

class phoenix6.hardware.talon_fxs.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.

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