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Phoenix 6 Python API Documentation
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Phoenix 6 Python API Documentation

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API Reference

  • phoenix6
    • phoenix6.configs
      • phoenix6.configs.cancoder_configs
      • phoenix6.configs.candi_configs
      • phoenix6.configs.candle_configs
      • phoenix6.configs.canrange_configs
      • phoenix6.configs.config_groups
      • phoenix6.configs.parent_configurator
      • phoenix6.configs.pigeon2_configs
      • phoenix6.configs.talon_fx_configs
      • phoenix6.configs.talon_fxs_configs
    • phoenix6.controls
      • phoenix6.controls.compound
        • phoenix6.controls.compound.diff_duty_cycle_out_position
        • phoenix6.controls.compound.diff_duty_cycle_out_velocity
        • phoenix6.controls.compound.diff_motion_magic_duty_cycle_position
        • phoenix6.controls.compound.diff_motion_magic_duty_cycle_velocity
        • phoenix6.controls.compound.diff_motion_magic_torque_current_foc_position
        • phoenix6.controls.compound.diff_motion_magic_torque_current_foc_velocity
        • phoenix6.controls.compound.diff_motion_magic_voltage_position
        • phoenix6.controls.compound.diff_motion_magic_voltage_velocity
        • phoenix6.controls.compound.diff_position_duty_cycle_position
        • phoenix6.controls.compound.diff_position_duty_cycle_velocity
        • phoenix6.controls.compound.diff_position_torque_current_foc_position
        • phoenix6.controls.compound.diff_position_torque_current_foc_velocity
        • phoenix6.controls.compound.diff_position_voltage_position
        • phoenix6.controls.compound.diff_position_voltage_velocity
        • phoenix6.controls.compound.diff_torque_current_foc_position
        • phoenix6.controls.compound.diff_torque_current_foc_velocity
        • phoenix6.controls.compound.diff_velocity_duty_cycle_position
        • phoenix6.controls.compound.diff_velocity_duty_cycle_velocity
        • phoenix6.controls.compound.diff_velocity_torque_current_foc_position
        • phoenix6.controls.compound.diff_velocity_torque_current_foc_velocity
        • phoenix6.controls.compound.diff_velocity_voltage_position
        • phoenix6.controls.compound.diff_velocity_voltage_velocity
        • phoenix6.controls.compound.diff_voltage_out_position
        • phoenix6.controls.compound.diff_voltage_out_velocity
      • phoenix6.controls.coast_out
      • phoenix6.controls.color_flow_animation
      • phoenix6.controls.differential_duty_cycle
      • phoenix6.controls.differential_follower
      • phoenix6.controls.differential_motion_magic_duty_cycle
      • phoenix6.controls.differential_motion_magic_voltage
      • phoenix6.controls.differential_position_duty_cycle
      • phoenix6.controls.differential_position_voltage
      • phoenix6.controls.differential_strict_follower
      • phoenix6.controls.differential_velocity_duty_cycle
      • phoenix6.controls.differential_velocity_voltage
      • phoenix6.controls.differential_voltage
      • phoenix6.controls.duty_cycle_out
      • phoenix6.controls.dynamic_motion_magic_duty_cycle
      • phoenix6.controls.dynamic_motion_magic_torque_current_foc
      • phoenix6.controls.dynamic_motion_magic_voltage
      • phoenix6.controls.empty_animation
      • phoenix6.controls.empty_control
      • phoenix6.controls.fire_animation
      • phoenix6.controls.follower
      • phoenix6.controls.larson_animation
      • phoenix6.controls.modulate_v_bat_out
      • phoenix6.controls.motion_magic_duty_cycle
      • phoenix6.controls.motion_magic_expo_duty_cycle
      • phoenix6.controls.motion_magic_expo_torque_current_foc
      • phoenix6.controls.motion_magic_expo_voltage
      • phoenix6.controls.motion_magic_torque_current_foc
      • phoenix6.controls.motion_magic_velocity_duty_cycle
      • phoenix6.controls.motion_magic_velocity_torque_current_foc
      • phoenix6.controls.motion_magic_velocity_voltage
      • phoenix6.controls.motion_magic_voltage
      • phoenix6.controls.music_tone
      • phoenix6.controls.neutral_out
      • phoenix6.controls.position_duty_cycle
      • phoenix6.controls.position_torque_current_foc
      • phoenix6.controls.position_voltage
      • phoenix6.controls.rainbow_animation
      • phoenix6.controls.rgb_fade_animation
      • phoenix6.controls.single_fade_animation
      • phoenix6.controls.solid_color
      • phoenix6.controls.static_brake
      • phoenix6.controls.strict_follower
      • phoenix6.controls.strobe_animation
      • phoenix6.controls.torque_current_foc
      • phoenix6.controls.twinkle_animation
      • phoenix6.controls.twinkle_off_animation
      • phoenix6.controls.velocity_duty_cycle
      • phoenix6.controls.velocity_torque_current_foc
      • phoenix6.controls.velocity_voltage
      • phoenix6.controls.voltage_out
    • phoenix6.hardware
      • phoenix6.hardware.core
        • phoenix6.hardware.core.core_cancoder
        • phoenix6.hardware.core.core_candi
        • phoenix6.hardware.core.core_candle
        • phoenix6.hardware.core.core_canrange
        • phoenix6.hardware.core.core_pigeon2
        • phoenix6.hardware.core.core_talon_fx
        • phoenix6.hardware.core.core_talon_fxs
      • phoenix6.hardware.traits
        • phoenix6.hardware.traits.common_talon
        • phoenix6.hardware.traits.common_talon_with_external_motor
        • phoenix6.hardware.traits.common_talon_with_foc
        • phoenix6.hardware.traits.has_external_motor
        • phoenix6.hardware.traits.has_talon_controls
        • phoenix6.hardware.traits.has_talon_signals
        • phoenix6.hardware.traits.supports_foc
        • phoenix6.hardware.traits.supports_music
      • phoenix6.hardware.cancoder
      • phoenix6.hardware.candi
      • phoenix6.hardware.candle
      • phoenix6.hardware.canrange
      • phoenix6.hardware.device_identifier
      • phoenix6.hardware.parent_device
      • phoenix6.hardware.pigeon2
      • phoenix6.hardware.talon_fx
      • phoenix6.hardware.talon_fxs
    • phoenix6.signals
      • phoenix6.signals.rgbw_color
      • phoenix6.signals.spn_enums
    • phoenix6.sim
      • phoenix6.sim.cancoder_sim_state
      • phoenix6.sim.candi_sim_state
      • phoenix6.sim.candle_sim_state
      • phoenix6.sim.canrange_sim_state
      • phoenix6.sim.chassis_reference
      • phoenix6.sim.device_type
      • phoenix6.sim.pigeon2_sim_state
      • phoenix6.sim.talon_fx_sim_state
      • phoenix6.sim.talon_fxs_sim_state
    • phoenix6.spns
      • phoenix6.spns.spn_value
    • phoenix6.swerve
      • phoenix6.swerve.utility
        • phoenix6.swerve.utility.geometry
        • phoenix6.swerve.utility.kinematics
        • phoenix6.swerve.utility.phoenix_pid_controller
      • phoenix6.swerve.requests
      • phoenix6.swerve.sim_swerve_drivetrain
      • phoenix6.swerve.swerve_drivetrain
      • phoenix6.swerve.swerve_drivetrain_constants
      • phoenix6.swerve.swerve_module
      • phoenix6.swerve.swerve_module_constants
    • phoenix6.wpiutils
      • phoenix6.wpiutils.auto_feed_enable
      • phoenix6.wpiutils.motor_safety_implem
      • phoenix6.wpiutils.replay_auto_enable
    • phoenix6.all_timestamps
    • phoenix6.base_status_signal
    • phoenix6.canbus
    • phoenix6.error_reporting
    • phoenix6.hoot_replay
    • phoenix6.orchestra
    • phoenix6.phoenix_native
    • phoenix6.signal_logger
    • phoenix6.status_code
    • phoenix6.status_signal
    • phoenix6.timestamp
    • phoenix6.units
    • phoenix6.unmanaged
    • phoenix6.utils
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phoenix6.swerve.utility.kinematics¶

Module Contents¶

class phoenix6.swerve.utility.kinematics.SwerveModuleState(speed: phoenix6.units.meters_per_second = 0, angle: Rotation2d = Rotation2d())¶
static optimize(desiredState: SwerveModuleState, currentAngle: Rotation2d) → SwerveModuleState¶
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phoenix6.swerve.utility.phoenix_pid_controller
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phoenix6.swerve.utility.geometry
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  • phoenix6.swerve.utility.kinematics
    • Module Contents
      • SwerveModuleState
        • SwerveModuleState.optimize()