phoenix6.hardware.traits.has_external_motor
¶
Module Contents¶
- class phoenix6.hardware.traits.has_external_motor.HasExternalMotor¶
Contains all status signals for motor controllers that support external motors.
- 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.
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:
- get_external_motor_temp(refresh: bool = True) phoenix6.status_signal.StatusSignal[phoenix6.units.celsius] ¶
Temperature of the external motor.
Minimum Value: 0.0
Maximum Value: 255.0
Default Value: 0
Units: ℃
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_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.
Minimum Value: 0.0
Maximum Value: 40.95
Default Value: 0
Units: Volts
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_raw_quadrature_position(refresh: bool = True) phoenix6.status_signal.StatusSignal[phoenix6.units.rotation] ¶
The raw position retrieved from the connected quadrature encoder. This is only affected by the QuadratureEdgesPerRotation config. In most situations, the user should instead configure the ExternalFeedbackSensorSource and use the regular position getter.
This signal must have its update frequency configured before it will have data.
Minimum Value: -16384.0
Maximum Value: 16383.999755859375
Default Value: 0
Units: rotations
This refreshes and returns a cached StatusSignal object.
- Parameters:
refresh (bool) – Whether to refresh the StatusSignal before returning it; defaults to true
- Returns:
RawQuadraturePosition Status Signal Object
- Return type:
StatusSignal[rotation]
- get_raw_quadrature_velocity(refresh: bool = True) phoenix6.status_signal.StatusSignal[phoenix6.units.rotations_per_second] ¶
The raw velocity retrieved from the connected quadrature encoder. This is only affected by the QuadratureEdgesPerRotation config. In most situations, the user should instead configure the ExternalFeedbackSensorSource and use the regular velocity getter.
This signal must have its update frequency configured before it will have data.
Minimum Value: -512.0
Maximum Value: 511.998046875
Default Value: 0
Units: rotations per second
This refreshes and returns a cached StatusSignal object.
- Parameters:
refresh (bool) – Whether to refresh the StatusSignal before returning it; defaults to true
- Returns:
RawQuadratureVelocity Status Signal Object
- Return type:
StatusSignal[rotations_per_second]
- get_raw_pulse_width_position(refresh: bool = True) phoenix6.status_signal.StatusSignal[phoenix6.units.rotation] ¶
The raw position retrieved from the connected pulse-width encoder. This is not affected by any config. In most situations, the user should instead configure the ExternalFeedbackSensorSource and use the regular position getter.
This signal must have its update frequency configured before it will have data.
Minimum Value: -16384.0
Maximum Value: 16383.999755859375
Default Value: 0
Units: rotations
This refreshes and returns a cached StatusSignal object.
- Parameters:
refresh (bool) – Whether to refresh the StatusSignal before returning it; defaults to true
- Returns:
RawPulseWidthPosition Status Signal Object
- Return type:
StatusSignal[rotation]
- get_raw_pulse_width_velocity(refresh: bool = True) phoenix6.status_signal.StatusSignal[phoenix6.units.rotations_per_second] ¶
The raw velocity retrieved from the connected pulse-width encoder. This is not affected by any config. In most situations, the user should instead configure the ExternalFeedbackSensorSource and use the regular velocity getter.
This signal must have its update frequency configured before it will have data.
Minimum Value: -512.0
Maximum Value: 511.998046875
Default Value: 0
Units: rotations per second
This refreshes and returns a cached StatusSignal object.
- Parameters:
refresh (bool) – Whether to refresh the StatusSignal before returning it; defaults to true
- Returns:
RawPulseWidthVelocity Status Signal Object
- Return type:
StatusSignal[rotations_per_second]
- 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 Value: False
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 Value: False
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 Value: False
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 Value: False
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 Value: False
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 Value: False
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 Value: False
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 Value: False
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 Value: False
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 Value: False
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]
- 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:
- 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:
- 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:
- 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:
- 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: