phoenix6.sim

Submodules

Package Contents

class phoenix6.sim.ChassisReference(*args, **kwds)

Bases: enum.Enum

Represents the orientation of a device relative to the robot chassis.

CounterClockwise_Positive = 1

The device should read a counter-clockwise rotation as positive motion.

Clockwise_Positive

The device should read a clockwise rotation as positive motion.

class phoenix6.sim.TalonFXSimState(device: phoenix6.hardware.core.core_talon_fx.CoreTalonFX, orientation: phoenix6.sim.chassis_reference.ChassisReference = ChassisReference.CounterClockwise_Positive)

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

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

Parameters:
  • device (CoreTalonFX) – Device to which this simulation state is attached

  • orientation (ChassisReference) – Orientation of the device relative to the robot chassis

property last_status_code: phoenix6.status_code.StatusCode

Gets the last status code generated by a simulation function.

Not all functions return a status code but can potentially report errors. This function can be used to retrieve those status codes.

Returns:

Last status code generated by a simulation function

Return type:

StatusCode

property motor_voltage: phoenix6.units.volt

Gets the simulated output voltage of the motor.

Returns:

Voltage applied to the motor in Volts

Return type:

volt

property torque_current: phoenix6.units.ampere

Gets the simulated output torque current of the motor.

Phoenix 6 simulation automatically calculates current.

Returns:

Torque current applied to the motor in Amperes

Return type:

ampere

property supply_current: phoenix6.units.ampere

Gets the simulated supply current of the TalonFX.

Phoenix 6 simulation automatically calculates current.

Returns:

Supply current of the TalonFX in Amperes

Return type:

ampere

orientation

The orientation of the TalonFX relative to the robot chassis.

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

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

Sets the simulated supply voltage of the TalonFX.

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_forward_limit(closed: bool) phoenix6.status_code.StatusCode

Sets the simulated forward limit switch of the TalonFX.

Parameters:

closed (bool) – Whether the limit switch is closed

Returns:

Status code

Return type:

StatusCode

set_reverse_limit(closed: bool) phoenix6.status_code.StatusCode

Sets the simulated reverse limit switch of the TalonFX.

Parameters:

closed (bool) – Whether the limit switch is closed

Returns:

Status code

Return type:

StatusCode

set_raw_rotor_position(rotations: phoenix6.units.rotation) phoenix6.status_code.StatusCode

Sets the simulated raw rotor position of the TalonFX. This is the position of the rotor (before gear ratio) used for the RotorSensor feedback source.

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

The TalonFX integrates this to calculate the true reported rotor 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:

rotations (rotation) – The raw position in rotations

Returns:

Status code

Return type:

StatusCode

add_rotor_position(drotations: phoenix6.units.rotation) phoenix6.status_code.StatusCode

Adds to the simulated rotor position of the TalonFX. This adds to the position of the rotor (before gear ratio) used for the RotorSensor feedback source.

Parameters:

drotations (rotation) – The change in position in rotations

Returns:

Status code

Return type:

StatusCode

set_rotor_velocity(rps: phoenix6.units.rotations_per_second) phoenix6.status_code.StatusCode

Sets the simulated rotor velocity of the TalonFX. This is the velocity of the rotor (before gear ratio) used for the RotorSensor feedback source.

Parameters:

rps (rotations_per_second) – The new velocity in rotations per second

Returns:

Status code

Return type:

StatusCode

set_rotor_acceleration(rpss: phoenix6.units.rotations_per_second_squared) phoenix6.status_code.StatusCode

Sets the simulated rotor acceleration of the TalonFX. This is the acceleration of the rotor (before gear ratio) used for the RotorSensor feedback source.

Parameters:

rpss (rotations_per_second_squared) – The new acceleration in rotations per second²

Returns:

Status code

Return type:

StatusCode

class phoenix6.sim.CANcoderSimState(device: phoenix6.hardware.core.core_cancoder.CoreCANcoder, orientation: phoenix6.sim.chassis_reference.ChassisReference = ChassisReference.CounterClockwise_Positive)

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

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

Parameters:
  • device (CoreCANcoder) – Device to which this simulation state is attached

  • orientation (ChassisReference) – Orientation of the device relative to the robot chassis

orientation

The orientation of the CANcoder relative to the robot chassis.

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

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

Sets the simulated supply voltage of the CANcoder.

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_raw_position(rotations: phoenix6.units.rotation) phoenix6.status_code.StatusCode

Sets the simulated raw position of the CANcoder.

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

The CANcoder integrates this to calculate the true reported 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:

rotations (rotation) – The raw position in rotations

Returns:

Status code

Return type:

StatusCode

add_position(drotations: phoenix6.units.rotation) phoenix6.status_code.StatusCode

Adds to the simulated position of the CANcoder.

Parameters:

drotations (rotation) – The change in position in rotations

Returns:

Status code

Return type:

StatusCode

set_velocity(rps: phoenix6.units.rotations_per_second) phoenix6.status_code.StatusCode

Sets the simulated velocity of the CANcoder.

Parameters:

rps (rotations_per_second) – The new velocity in rotations per second

Returns:

Status code

Return type:

StatusCode

set_magnet_health(value: phoenix6.signals.spn_enums.MagnetHealthValue) phoenix6.status_code.StatusCode

Sets the simulated magnet health of the CANcoder.

Parameters:

value (MagnetHealthValue) – The magnet health to simulate. This directly correlates to the red/green/orange state of the simulated LED.

Returns:

Status code

Return type:

StatusCode

class phoenix6.sim.Pigeon2SimState(device: phoenix6.hardware.core.core_pigeon2.CorePigeon2)

Creates an object to control the state of a simulated Pigeon2.

Note the recommended method of accessing simulation features is to use Pigeon2.sim_state.

Parameters:

device (CorePigeon2) – Device to which this simulation state is attached

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

Sets the simulated supply voltage of the Pigeon2.

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_raw_yaw(deg: phoenix6.units.degree) phoenix6.status_code.StatusCode

Sets the simulated raw yaw of the Pigeon2.

Inputs to this function over time should be continuous, as user calls of Pigeon2.set_yaw will be accounted for in the callee.

The Pigeon2 integrates this to calculate the true reported yaw.

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

Parameters:

deg (degree) – The yaw in degrees

Returns:

Status code

Return type:

StatusCode

add_yaw(ddeg: phoenix6.units.degree) phoenix6.status_code.StatusCode

Adds to the simulated yaw of the Pigeon2.

Parameters:

ddeg (degree) – The change in position in rotations

Returns:

Status code

Return type:

StatusCode

set_pitch(deg: phoenix6.units.degree) phoenix6.status_code.StatusCode

Sets the simulated pitch of the Pigeon2.

Parameters:

deg (degree) – The pitch in degrees

Returns:

Status code

Return type:

StatusCode

set_roll(deg: phoenix6.units.degree) phoenix6.status_code.StatusCode

Sets the simulated roll of the Pigeon2.

Parameters:

deg (degree) – The roll in degrees

Returns:

Status code

Return type:

StatusCode

set_angular_velocity_x(dps: phoenix6.units.degrees_per_second) phoenix6.status_code.StatusCode

Sets the simulated angular velocity X component of the Pigeon2.

Parameters:

dps – The X component of the angular velocity in degrees per second

Returns:

Status code

Return type:

StatusCode

set_angular_velocity_y(dps: phoenix6.units.degrees_per_second) phoenix6.status_code.StatusCode

Sets the simulated angular velocity Y component of the Pigeon2.

Parameters:

dps – The Y component of the angular velocity in degrees per second

Returns:

Status code

Return type:

StatusCode

set_angular_velocity_z(dps: phoenix6.units.degrees_per_second) phoenix6.status_code.StatusCode

Sets the simulated angular velocity Z component of the Pigeon2.

Parameters:

dps – The Z component of the angular velocity in degrees per second

Returns:

Status code

Return type:

StatusCode

class phoenix6.sim.TalonFXSSimState(device: phoenix6.hardware.core.core_talon_fxs.CoreTalonFXS, motor_orientation: phoenix6.sim.chassis_reference.ChassisReference = ChassisReference.CounterClockwise_Positive, ext_sensor_orientation: phoenix6.sim.chassis_reference.ChassisReference = ChassisReference.CounterClockwise_Positive)

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

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

Parameters:
  • device (CoreTalonFXS) – Device to which this simulation state is attached

  • motor_orientation – Orientation of the motor (and commutation sensor) relative to the robot chassis

  • ext_sensor_orientation (ChassisReference) – Orientation of the external sensor relative to the robot chassis

property last_status_code: phoenix6.status_code.StatusCode

Gets the last status code generated by a simulation function.

Not all functions return a status code but can potentially report errors. This function can be used to retrieve those status codes.

Returns:

Last status code generated by a simulation function

Return type:

StatusCode

property motor_voltage: phoenix6.units.volt

Gets the simulated output voltage of the motor.

Returns:

Voltage applied to the motor in Volts

Return type:

volt

property torque_current: phoenix6.units.ampere

Gets the simulated output torque current of the motor.

Phoenix 6 simulation automatically calculates current.

Returns:

Torque current applied to the motor in Amperes

Return type:

ampere

property supply_current: phoenix6.units.ampere

Gets the simulated supply current of the TalonFXS.

Phoenix 6 simulation automatically calculates current.

Returns:

Supply current of the TalonFXS in Amperes

Return type:

ampere

motor_orientation
The orientation of the motor attached to the TalonFXS relative

to the robot chassis. This include the Commutation sensor source.

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

ext_sensor_orientation

The orientation of an external sensor attached to the TalonFXS relative to the robot chassis. This does NOT include the Commutation sensor source.

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

quadrature_edges_per_rotation: int = 4096

The number of quadrature edges per sensor rotation for an external quadrature sensor attached to the TalonFXS.

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

Sets the simulated supply voltage of the TalonFXS.

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_forward_limit(closed: bool) phoenix6.status_code.StatusCode

Sets the simulated forward limit switch of the TalonFXS.

Parameters:

closed (bool) – Whether the limit switch is closed

Returns:

Status code

Return type:

StatusCode

set_reverse_limit(closed: bool) phoenix6.status_code.StatusCode

Sets the simulated reverse limit switch of the TalonFXS.

Parameters:

closed (bool) – Whether the limit switch is closed

Returns:

Status code

Return type:

StatusCode

set_raw_rotor_position(rotations: phoenix6.units.rotation) phoenix6.status_code.StatusCode
Sets the simulated raw rotor position of the TalonFXS. This is the position

of the rotor (before gear ratio) used for the Commutation feedback source.

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

The TalonFXS integrates this to calculate the true reported rotor 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:

rotations (rotation) – The raw position in rotations

Returns:

Status code

Return type:

StatusCode

add_rotor_position(drotations: phoenix6.units.rotation) phoenix6.status_code.StatusCode
Adds to the simulated rotor position of the TalonFXS. This adds to the position

of the rotor (before gear ratio) used for the Commutation feedback source.

Parameters:

drotations (rotation) – The change in position in rotations

Returns:

Status code

Return type:

StatusCode

set_rotor_velocity(rps: phoenix6.units.rotations_per_second) phoenix6.status_code.StatusCode
Sets the simulated rotor velocity of the TalonFXS. This is the velocity

of the rotor (before gear ratio) used for the Commutation feedback source.

Parameters:

rps (rotations_per_second) – The new velocity in rotations per second

Returns:

Status code

Return type:

StatusCode

set_rotor_acceleration(rpss: phoenix6.units.rotations_per_second_squared) phoenix6.status_code.StatusCode
Sets the simulated rotor acceleration of the TalonFXS. This is the acceleration

of the rotor (before gear ratio) used for the Commutation feedback source.

Parameters:

rpss (rotations_per_second_squared) – The new acceleration in rotations per second²

Returns:

Status code

Return type:

StatusCode

set_raw_quadrature_position(rotations: phoenix6.units.rotation) phoenix6.status_code.StatusCode
Sets the simulated raw quadrature position of the TalonFXS. This is the position

of an external quadrature encoder after any gear ratio between the rotor and the sensor.

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

The TalonFXS 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:

rotations (rotation) – The raw position in rotations

Returns:

Status code

Return type:

StatusCode

add_quadrature_position(drotations: phoenix6.units.rotation) phoenix6.status_code.StatusCode
Adds to the simulated quadrature position of the TalonFXS. This adds to the position

of an external quadrature encoder after any gear ratio between the rotor and the sensor.

Parameters:

drotations (rotation) – The change in position in rotations

Returns:

Status code

Return type:

StatusCode

set_quadrature_velocity(rps: phoenix6.units.rotations_per_second) phoenix6.status_code.StatusCode
Sets the simulated quadrature velocity of the TalonFXS. This is the velocity

of an external quadrature encoder after any gear ratio between the rotor and the sensor.

Parameters:

rps (rotations_per_second) – The new velocity in rotations per second

Returns:

Status code

Return type:

StatusCode

set_quadrature_acceleration(rpss: phoenix6.units.rotations_per_second_squared) phoenix6.status_code.StatusCode
Sets the simulated quadrature acceleration of the TalonFXS. This is the acceleration

of an external quadrature encoder after any gear ratio between the rotor and the sensor.

Parameters:

rpss (rotations_per_second_squared) – The new acceleration in rotations per second²

Returns:

Status code

Return type:

StatusCode

set_pulse_width_position(rotations: phoenix6.units.rotation) phoenix6.status_code.StatusCode
Sets the simulated pulse width position of the TalonFXS. This is the position

of an external PWM encoder after any gear ratio between the rotor and the sensor.

Parameters:

rotations (rotation) – The new position in rotations

Returns:

Status code

Return type:

StatusCode

set_pulse_width_velocity(rps: phoenix6.units.rotations_per_second) phoenix6.status_code.StatusCode
Sets the simulated pulse width velocity of the TalonFXS. This is the position

of an external PWM encoder after any gear ratio between the rotor and the sensor.

Parameters:

rps (rotations_per_second) – The new velocity in rotations per second

Returns:

Status code

Return type:

StatusCode

class phoenix6.sim.CANrangeSimState(device: phoenix6.hardware.core.core_canrange.CoreCANrange)

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

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

Parameters:

device (CoreCANrange) – Device to which this simulation state is attached

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

Sets the simulated supply voltage of the CANrange.

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_distance(meters: phoenix6.units.meter) phoenix6.status_code.StatusCode

Sets the simulated distance of the CANrange.

Parameters:

meters (meter) – The distance in meters

Returns:

Status code

Return type:

StatusCode

class phoenix6.sim.CANdiSimState(device: phoenix6.hardware.core.core_candi.CoreCANdi)

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

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