`phoenix6.sim.candi_sim_state`¶

Module Contents¶

class phoenix6.sim.candi_sim_state.CANdiSimState(device: phoenix6.hardware.core.core_candi.CoreCANdi, pwm1_orientation=ChassisReference.CounterClockwise_Positive, pwm2_orientation=ChassisReference.CounterClockwise_Positive, quadrature_orientation=ChassisReference.CounterClockwise_Positive, quadrature_edges_per_rotation=4096)¶

Creates an object to control the state of a simulated CANdi.

Note the recommended method of accessing simulation features is to use CANdi.sim_state.

Parameters:

device (CoreCANdi) – Device to which this simulation state is attached
pwm1_orientation (ChassisReference) – The orientation of the PWM1 sensor relative to the robot chassis.
pwm2_orientation (ChassisReference) – The orientation of the PWM2 sensor relative to the robot chassis.
quadrature_orientation (ChassisReference) – The orientation of the Quadrature sensor relative to the robot chassis.
quadrature_edges_per_rotation (int) – The number of quadrature edges per sensor rotation for an external quadrature sensor attached to the CANdi.

pwm1_orientation¶

The orientation of the PWM1 sensor relative to the robot chassis.

This value should not be changed based on the CANdi PWM1 invert. Rather, this value should be changed when the mechanical linkage between the sensor and the robot changes.

pwm2_orientation¶

The orientation of the PWM2 sensor relative to the robot chassis.

This value should not be changed based on the CANdi PWM2 invert. Rather, this value should be changed when the mechanical linkage between the sensor and the robot changes.

quadrature_orientation¶: The orientation of the Quadrature sensor relative to the robot chassis. <p> This value should not be changed based on the CANdi Quadrature invert. Rather, this value should be changed when the mechanical linkage between the sensor and the robot changes.

quadrature_edges_per_rotation¶: The number of quadrature edges per sensor rotation for an external quadrature sensor attached to the CANdi.

set_supply_voltage(volts: phoenix6.units.volt) → phoenix6.status_code.StatusCode¶

Sets the simulated supply voltage of the CANdi.

The minimum allowed supply voltage is 4 V - values below this will be promoted to 4 V.

Parameters:: volts (volt) – The supply voltage in Volts
Returns:: Status code
Return type:: StatusCode

set_output_current(current: phoenix6.units.ampere) → phoenix6.status_code.StatusCode¶

Sets the simulated output current of the CANdi.

Parameters:: current (ampere) – The output current
Returns:: Status Code
Return type:: StatusCode

set_pwm1_rise_rise(time: phoenix6.units.second) → phoenix6.status_code.StatusCode¶

Sets the simulated PWM1 Rise to Rise timing of the CANdi.

Parameters:: time (second) – The time between two Rise events
Returns:: Status Code
Return type:: StatusCode

set_pwm1_rise_fall(time: phoenix6.units.second) → phoenix6.status_code.StatusCode¶

Sets the simulated PWM1 Rise to Fall timing of the CANdi.

Parameters:: time (second) – The time between the Rise and Fall events in seconds
Returns:: Status Code
Return type:: StatusCode

set_pwm1_connected(connected: bool) → phoenix6.status_code.StatusCode¶

Sets whether a PWM sensor is connected to the S1 pin.

Parameters:: connected (bool) – True if sensor is connected
Returns:: Status Code
Return type:: StatusCode

set_pwm1_position(position: phoenix6.units.rotation) → phoenix6.status_code.StatusCode¶

Sets the simulated pulse width position of the CANdi. This is the position of an external PWM encoder connected to the S1 pin.

Parameters:: position (rotation) – The new position
Returns:: Status Code
Return type:: StatusCode

set_pwm1_velocity(velocity: phoenix6.units.rotations_per_second) → phoenix6.status_code.StatusCode¶

Sets the simulated pulse width velocity of the CANdi. This is the velocity of an external PWM encoder connected to the S1 pin.

Parameters:: velocity (rotations_per_second) – The new velocity
Returns:: Status Code
Return type:: StatusCode

set_pwm2_rise_rise(time: phoenix6.units.second) → phoenix6.status_code.StatusCode¶

Sets the simulated PWM2 Rise to Rise timing of the CANdi.

Parameters:: time (second) – The time between two Rise events
Returns:: Status Code
Return type:: StatusCode

set_pwm2_rise_fall(time: phoenix6.units.second) → phoenix6.status_code.StatusCode¶

Sets the simulated PWM2 Rise to Fall timing of the CANdi.

Parameters:: time (second) – The time between the Rise and Fall events in seconds
Returns:: Status Code
Return type:: StatusCode

set_pwm2_connected(connected: bool) → phoenix6.status_code.StatusCode¶

Sets whether a PWM sensor is connected to the S2 pin.

Parameters:: connected (bool) – True if sensor is connected
Returns:: Status Code
Return type:: StatusCode

set_pwm2_position(position: phoenix6.units.rotation) → phoenix6.status_code.StatusCode¶

Sets the simulated pulse width position of the CANdi. This is the position of an external PWM encoder connected to the S2 pin.

Parameters:: position (rotation) – The new position
Returns:: Status Code
Return type:: StatusCode

set_pwm2_velocity(velocity: phoenix6.units.rotations_per_second) → phoenix6.status_code.StatusCode¶

Sets the simulated pulse width velocity of the CANdi. This is the velocity of an external PWM encoder connected to the S2 pin.

Parameters:: velocity (rotations_per_second) – The new velocity
Returns:: Status Code
Return type:: StatusCode

set_raw_quadrature_position(position: phoenix6.units.rotation) → phoenix6.status_code.StatusCode¶

Sets the simulated raw quadrature position of the CANdi.

Inputs to this function over time should be continuous, as user calls of CANdi.set_quadrature_position will be accounted for in the callee.

The CANdi integrates this to calculate the true reported quadrature position.

When using the WPI Sim GUI, you will notice a readonly position and settable rawPositionInput. The readonly signal is the emulated position which will match self-test in Tuner and the hardware API. Changes to rawPositionInput will be integrated into the emulated position. This way a simulator can modify the position without overriding hardware API calls for home-ing the sensor.

Parameters:: position (rotation) – The raw position
Returns:: Status Code
Return type:: StatusCode

set_quadrature_velocity(velocity: phoenix6.units.rotations_per_second) → phoenix6.status_code.StatusCode¶

Sets the simulated pulse width velocity of the CANdi.

Parameters:: velocity (rotations_per_second) – The new velocity
Returns:: Status Code
Return type:: StatusCode

set_s1_state(state: phoenix6.signals.spn_enums.S1StateValue) → phoenix6.status_code.StatusCode¶

Sets the state of the S1 pin

Parameters:: state (S1StateValue) – The state to set the S1 pin to
Returns:: Status Code
Return type:: StatusCode

set_s2_state(state: phoenix6.signals.spn_enums.S2StateValue) → phoenix6.status_code.StatusCode¶

Sets the state of the S2 pin

Parameters:: state (S2StateValue) – The state to St the S2 pin to
Returns:: Status Code
Return type:: StatusCode

phoenix6.sim.candi_sim_state¶

Module Contents¶

`phoenix6.sim.candi_sim_state`¶