:py:mod:`phoenix6.hardware.core` ================================ .. py:module:: phoenix6.hardware.core Submodules ---------- .. toctree:: :titlesonly: :maxdepth: 1 core_cancoder/index.rst core_candi/index.rst core_candle/index.rst core_canrange/index.rst core_pigeon2/index.rst core_talon_fx/index.rst core_talon_fxs/index.rst Package Contents ---------------- .. py:class:: CoreTalonFX(device_id: int, canbus: phoenix6.canbus.CANBus | str = CANBus()) Bases: :py:obj:`phoenix6.hardware.parent_device.ParentDevice`, :py:obj:`phoenix6.hardware.traits.common_talon_with_foc.CommonTalonWithFOC` Class description for the Talon FX integrated motor controller. Constructs a new Talon FX motor controller object. .. versionchanged:: 2026 Constructing devices with a CAN bus string is deprecated for removal in the 2027 season. Construct devices using a CANBus instance instead. :param device_id: ID of the device, as configured in Phoenix Tuner :type device_id: int :param canbus: 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 :type canbus: CANBus | str, optional .. py:property:: sim_state :type: phoenix6.sim.talon_fx_sim_state.TalonFXSimState Get the simulation state for this device. This function reuses an allocated simulation state object, so it is safe to call this function multiple times in a robot loop. :returns: Simulation state :rtype: TalonFXSimState .. py:attribute:: Configuration The configuration class for this device. .. py:attribute:: configurator .. py:method:: none() :classmethod: Constructs a stubbed-out CoreTalonFX, where all status signals, controls, configs, etc. perform no action and immediately return OK. This can be used to silence error messages for devices that have been completely removed from the robot. :returns: Stubbed-out CoreTalonFX :rtype: CoreTalonFX .. py:method:: get_version_major(refresh: bool = True) -> phoenix6.status_signal.StatusSignal[int] App Major Version number. - Minimum Value: 0 - Maximum Value: 255 - Default Value: 0 - Units: Default Rates: - CAN: 4.0 Hz This refreshes and returns a cached StatusSignal object. :param refresh: Whether to refresh the StatusSignal before returning it; defaults to true :type refresh: bool :returns: VersionMajor Status Signal Object :rtype: StatusSignal[int] .. py:method:: get_version_minor(refresh: bool = True) -> phoenix6.status_signal.StatusSignal[int] App Minor Version number. - Minimum Value: 0 - Maximum Value: 255 - Default Value: 0 - Units: Default Rates: - CAN: 4.0 Hz This refreshes and returns a cached StatusSignal object. :param refresh: Whether to refresh the StatusSignal before returning it; defaults to true :type refresh: bool :returns: VersionMinor Status Signal Object :rtype: StatusSignal[int] .. py:method:: get_version_bugfix(refresh: bool = True) -> phoenix6.status_signal.StatusSignal[int] App Bugfix Version number. - Minimum Value: 0 - Maximum Value: 255 - Default Value: 0 - Units: Default Rates: - CAN: 4.0 Hz This refreshes and returns a cached StatusSignal object. :param refresh: Whether to refresh the StatusSignal before returning it; defaults to true :type refresh: bool :returns: VersionBugfix Status Signal Object :rtype: StatusSignal[int] .. py:method:: get_version_build(refresh: bool = True) -> phoenix6.status_signal.StatusSignal[int] App Build Version number. - Minimum Value: 0 - Maximum Value: 255 - Default Value: 0 - Units: Default Rates: - CAN: 4.0 Hz This refreshes and returns a cached StatusSignal object. :param refresh: Whether to refresh the StatusSignal before returning it; defaults to true :type refresh: bool :returns: VersionBuild Status Signal Object :rtype: StatusSignal[int] .. py:method:: get_version(refresh: bool = True) -> phoenix6.status_signal.StatusSignal[int] Full Version of firmware in device. The format is a four byte value. - Minimum Value: 0 - Maximum Value: 4294967295 - Default Value: 0 - Units: Default Rates: - CAN: 4.0 Hz This refreshes and returns a cached StatusSignal object. :param refresh: Whether to refresh the StatusSignal before returning it; defaults to true :type refresh: bool :returns: Version Status Signal Object :rtype: StatusSignal[int] .. py:method:: get_fault_field(refresh: bool = True) -> phoenix6.status_signal.StatusSignal[int] Integer representing all fault flags reported by the device. These are device specific and are not used directly in typical applications. Use the signal specific GetFault_*() methods instead. - Minimum Value: 0 - Maximum Value: 4294967295 - Default Value: 0 - Units: Default Rates: - CAN: 4.0 Hz This refreshes and returns a cached StatusSignal object. :param refresh: Whether to refresh the StatusSignal before returning it; defaults to true :type refresh: bool :returns: FaultField Status Signal Object :rtype: StatusSignal[int] .. py:method:: get_sticky_fault_field(refresh: bool = True) -> phoenix6.status_signal.StatusSignal[int] Integer representing all (persistent) sticky fault flags reported by the device. These are device specific and are not used directly in typical applications. Use the signal specific GetStickyFault_*() methods instead. - Minimum Value: 0 - Maximum Value: 4294967295 - Default Value: 0 - Units: Default Rates: - CAN: 4.0 Hz This refreshes and returns a cached StatusSignal object. :param refresh: Whether to refresh the StatusSignal before returning it; defaults to true :type refresh: bool :returns: StickyFaultField Status Signal Object :rtype: StatusSignal[int] .. py:method:: get_motor_voltage(refresh: bool = True) -> phoenix6.status_signal.StatusSignal[phoenix6.units.volt] The applied (output) motor voltage. - Minimum Value: -40.96 - Maximum Value: 40.95 - Default Value: 0 - Units: V Default Rates: - CAN 2.0: 100.0 Hz - CAN FD: 100.0 Hz (TimeSynced with Pro) This refreshes and returns a cached StatusSignal object. :param refresh: Whether to refresh the StatusSignal before returning it; defaults to true :type refresh: bool :returns: MotorVoltage Status Signal Object :rtype: StatusSignal[volt] .. py:method:: get_forward_limit(refresh: bool = True) -> phoenix6.status_signal.StatusSignal[phoenix6.signals.spn_enums.ForwardLimitValue] Forward Limit Pin. Default Rates: - CAN 2.0: 100.0 Hz - CAN FD: 100.0 Hz (TimeSynced with Pro) This refreshes and returns a cached StatusSignal object. :param refresh: Whether to refresh the StatusSignal before returning it; defaults to true :type refresh: bool :returns: ForwardLimit Status Signal Object :rtype: StatusSignal[ForwardLimitValue] .. py:method:: get_reverse_limit(refresh: bool = True) -> phoenix6.status_signal.StatusSignal[phoenix6.signals.spn_enums.ReverseLimitValue] Reverse Limit Pin. Default Rates: - CAN 2.0: 100.0 Hz - CAN FD: 100.0 Hz (TimeSynced with Pro) This refreshes and returns a cached StatusSignal object. :param refresh: Whether to refresh the StatusSignal before returning it; defaults to true :type refresh: bool :returns: ReverseLimit Status Signal Object :rtype: StatusSignal[ReverseLimitValue] .. py:method:: get_applied_rotor_polarity(refresh: bool = True) -> phoenix6.status_signal.StatusSignal[phoenix6.signals.spn_enums.AppliedRotorPolarityValue] The applied rotor polarity as seen from the front of the motor. This typically is determined by the Inverted config, but can be overridden if using Follower features. Default Rates: - CAN 2.0: 100.0 Hz - CAN FD: 100.0 Hz (TimeSynced with Pro) This refreshes and returns a cached StatusSignal object. :param refresh: Whether to refresh the StatusSignal before returning it; defaults to true :type refresh: bool :returns: AppliedRotorPolarity Status Signal Object :rtype: StatusSignal[AppliedRotorPolarityValue] .. py:method:: get_duty_cycle(refresh: bool = True) -> phoenix6.status_signal.StatusSignal[float] The applied motor duty cycle. - Minimum Value: -2.0 - Maximum Value: 1.9990234375 - Default Value: 0 - Units: fractional Default Rates: - CAN 2.0: 100.0 Hz - CAN FD: 100.0 Hz (TimeSynced with Pro) This refreshes and returns a cached StatusSignal object. :param refresh: Whether to refresh the StatusSignal before returning it; defaults to true :type refresh: bool :returns: DutyCycle Status Signal Object :rtype: StatusSignal[float] .. py:method:: get_torque_current(refresh: bool = True) -> phoenix6.status_signal.StatusSignal[phoenix6.units.ampere] Current corresponding to the torque output by the motor. Similar to StatorCurrent. Users will likely prefer this current to calculate the applied torque to the rotor. Stator current where positive current means torque is applied in the forward direction as determined by the Inverted setting. - Minimum Value: -327.68 - Maximum Value: 327.67 - Default Value: 0 - Units: A Default Rates: - CAN 2.0: 100.0 Hz - CAN FD: 100.0 Hz (TimeSynced with Pro) This refreshes and returns a cached StatusSignal object. :param refresh: Whether to refresh the StatusSignal before returning it; defaults to true :type refresh: bool :returns: TorqueCurrent Status Signal Object :rtype: StatusSignal[ampere] .. py:method:: get_stator_current(refresh: bool = True) -> phoenix6.status_signal.StatusSignal[phoenix6.units.ampere] Current corresponding to the stator windings. Similar to TorqueCurrent. Users will likely prefer TorqueCurrent over StatorCurrent. Stator current where Positive current indicates motoring regardless of direction. Negative current indicates regenerative braking regardless of direction. - Minimum Value: -327.68 - Maximum Value: 327.66 - Default Value: 0 - Units: A Default Rates: - CAN 2.0: 4.0 Hz - CAN FD: 100.0 Hz (TimeSynced with Pro) This refreshes and returns a cached StatusSignal object. :param refresh: Whether to refresh the StatusSignal before returning it; defaults to true :type refresh: bool :returns: StatorCurrent Status Signal Object :rtype: StatusSignal[ampere] .. py:method:: get_supply_current(refresh: bool = True) -> phoenix6.status_signal.StatusSignal[phoenix6.units.ampere] Measured supply side current. - Minimum Value: -327.68 - Maximum Value: 327.66 - Default Value: 0 - Units: A Default Rates: - CAN 2.0: 4.0 Hz - CAN FD: 100.0 Hz (TimeSynced with Pro) This refreshes and returns a cached StatusSignal object. :param refresh: Whether to refresh the StatusSignal before returning it; defaults to true :type refresh: bool :returns: SupplyCurrent Status Signal Object :rtype: StatusSignal[ampere] .. py:method:: get_supply_voltage(refresh: bool = True) -> phoenix6.status_signal.StatusSignal[phoenix6.units.volt] Measured supply voltage to the device. - Minimum Value: 4 - Maximum Value: 29.575 - Default Value: 4 - Units: V Default Rates: - CAN 2.0: 4.0 Hz - CAN FD: 100.0 Hz (TimeSynced with Pro) This refreshes and returns a cached StatusSignal object. :param refresh: Whether to refresh the StatusSignal before returning it; defaults to true :type refresh: bool :returns: SupplyVoltage Status Signal Object :rtype: StatusSignal[volt] .. py:method:: get_device_temp(refresh: bool = True) -> phoenix6.status_signal.StatusSignal[phoenix6.units.celsius] Temperature of device. This is the temperature that the device measures itself to be at. Similar to Processor Temperature. - Minimum Value: 0.0 - Maximum Value: 255.0 - Default Value: 0 - Units: ℃ Default Rates: - CAN 2.0: 4.0 Hz - CAN FD: 100.0 Hz (TimeSynced with Pro) This refreshes and returns a cached StatusSignal object. :param refresh: Whether to refresh the StatusSignal before returning it; defaults to true :type refresh: bool :returns: DeviceTemp Status Signal Object :rtype: StatusSignal[celsius] .. py:method:: get_processor_temp(refresh: bool = True) -> phoenix6.status_signal.StatusSignal[phoenix6.units.celsius] Temperature of the processor. This is the temperature that the processor measures itself to be at. Similar to Device Temperature. - Minimum Value: 0.0 - Maximum Value: 255.0 - Default Value: 0 - Units: ℃ Default Rates: - CAN 2.0: 4.0 Hz - CAN FD: 100.0 Hz (TimeSynced with Pro) This refreshes and returns a cached StatusSignal object. :param refresh: Whether to refresh the StatusSignal before returning it; defaults to true :type refresh: bool :returns: ProcessorTemp Status Signal Object :rtype: StatusSignal[celsius] .. py:method:: get_rotor_velocity(refresh: bool = True) -> phoenix6.status_signal.StatusSignal[phoenix6.units.rotations_per_second] Velocity of the motor rotor. This velocity is not affected by any feedback configs. - Minimum Value: -512.0 - Maximum Value: 511.998046875 - Default Value: 0 - Units: rotations per second Default Rates: - CAN 2.0: 4.0 Hz - CAN FD: 100.0 Hz (TimeSynced with Pro) This refreshes and returns a cached StatusSignal object. :param refresh: Whether to refresh the StatusSignal before returning it; defaults to true :type refresh: bool :returns: RotorVelocity Status Signal Object :rtype: StatusSignal[rotations_per_second] .. py:method:: get_rotor_position(refresh: bool = True) -> phoenix6.status_signal.StatusSignal[phoenix6.units.rotation] Position of the motor rotor. This position is only affected by the RotorOffset config and calls to setPosition. - Minimum Value: -16384.0 - Maximum Value: 16383.999755859375 - Default Value: 0 - Units: rotations Default Rates: - CAN 2.0: 4.0 Hz - CAN FD: 100.0 Hz (TimeSynced with Pro) This refreshes and returns a cached StatusSignal object. :param refresh: Whether to refresh the StatusSignal before returning it; defaults to true :type refresh: bool :returns: RotorPosition Status Signal Object :rtype: StatusSignal[rotation] .. py:method:: get_velocity(refresh: bool = True) -> phoenix6.status_signal.StatusSignal[phoenix6.units.rotations_per_second] Velocity of the device in mechanism rotations per second. This can be the velocity of a remote sensor and is affected by the RotorToSensorRatio and SensorToMechanismRatio configs. - Minimum Value: -512.0 - Maximum Value: 511.998046875 - Default Value: 0 - Units: rotations per second Default Rates: - CAN 2.0: 50.0 Hz - CAN FD: 100.0 Hz (TimeSynced with Pro) This refreshes and returns a cached StatusSignal object. :param refresh: Whether to refresh the StatusSignal before returning it; defaults to true :type refresh: bool :returns: Velocity Status Signal Object :rtype: StatusSignal[rotations_per_second] .. py:method:: get_position(refresh: bool = True) -> phoenix6.status_signal.StatusSignal[phoenix6.units.rotation] Position of the device in mechanism rotations. This can be the position of a remote sensor and is affected by the RotorToSensorRatio and SensorToMechanismRatio configs, as well as calls to setPosition. - Minimum Value: -16384.0 - Maximum Value: 16383.999755859375 - Default Value: 0 - Units: rotations Default Rates: - CAN 2.0: 50.0 Hz - CAN FD: 100.0 Hz (TimeSynced with Pro) This refreshes and returns a cached StatusSignal object. :param refresh: Whether to refresh the StatusSignal before returning it; defaults to true :type refresh: bool :returns: Position Status Signal Object :rtype: StatusSignal[rotation] .. py:method:: get_acceleration(refresh: bool = True) -> phoenix6.status_signal.StatusSignal[phoenix6.units.rotations_per_second_squared] Acceleration of the device in mechanism rotations per second². This can be the acceleration of a remote sensor and is affected by the RotorToSensorRatio and SensorToMechanismRatio configs. - Minimum Value: -2048.0 - Maximum Value: 2047.75 - Default Value: 0 - Units: rotations per second² Default Rates: - CAN 2.0: 50.0 Hz - CAN FD: 100.0 Hz (TimeSynced with Pro) This refreshes and returns a cached StatusSignal object. :param refresh: Whether to refresh the StatusSignal before returning it; defaults to true :type refresh: bool :returns: Acceleration Status Signal Object :rtype: StatusSignal[rotations_per_second_squared] .. py:method:: get_control_mode(refresh: bool = True) -> phoenix6.status_signal.StatusSignal[phoenix6.signals.spn_enums.ControlModeValue] The active control mode of the motor controller. Default Rates: - CAN 2.0: 4.0 Hz - CAN FD: 100.0 Hz (TimeSynced with Pro) This refreshes and returns a cached StatusSignal object. :param refresh: Whether to refresh the StatusSignal before returning it; defaults to true :type refresh: bool :returns: ControlMode Status Signal Object :rtype: StatusSignal[ControlModeValue] .. py:method:: get_motion_magic_at_target(refresh: bool = True) -> phoenix6.status_signal.StatusSignal[bool] Check if the Motion Magic® profile has reached the target. This is equivalent to checking that MotionMagicIsRunning, the ClosedLoopReference is the target, and the ClosedLoopReferenceSlope is 0. - Default Value: False Default Rates: - CAN 2.0: 4.0 Hz - CAN FD: 100.0 Hz (TimeSynced with Pro) This refreshes and returns a cached StatusSignal object. :param refresh: Whether to refresh the StatusSignal before returning it; defaults to true :type refresh: bool :returns: MotionMagicAtTarget Status Signal Object :rtype: StatusSignal[bool] .. py:method:: get_motion_magic_is_running(refresh: bool = True) -> phoenix6.status_signal.StatusSignal[bool] Check if Motion Magic® is running. This is equivalent to checking that the reported control mode is a Motion Magic® based mode. - Default Value: False Default Rates: - CAN 2.0: 4.0 Hz - CAN FD: 100.0 Hz (TimeSynced with Pro) This refreshes and returns a cached StatusSignal object. :param refresh: Whether to refresh the StatusSignal before returning it; defaults to true :type refresh: bool :returns: MotionMagicIsRunning Status Signal Object :rtype: StatusSignal[bool] .. py:method:: get_robot_enable(refresh: bool = True) -> phoenix6.status_signal.StatusSignal[phoenix6.signals.spn_enums.RobotEnableValue] Indicates if the robot is enabled. Default Rates: - CAN 2.0: 4.0 Hz - CAN FD: 100.0 Hz (TimeSynced with Pro) This refreshes and returns a cached StatusSignal object. :param refresh: Whether to refresh the StatusSignal before returning it; defaults to true :type refresh: bool :returns: RobotEnable Status Signal Object :rtype: StatusSignal[RobotEnableValue] .. py:method:: get_device_enable(refresh: bool = True) -> phoenix6.status_signal.StatusSignal[phoenix6.signals.spn_enums.DeviceEnableValue] Indicates if device is actuator enabled. Default Rates: - CAN 2.0: 4.0 Hz - CAN FD: 100.0 Hz (TimeSynced with Pro) This refreshes and returns a cached StatusSignal object. :param refresh: Whether to refresh the StatusSignal before returning it; defaults to true :type refresh: bool :returns: DeviceEnable Status Signal Object :rtype: StatusSignal[DeviceEnableValue] .. py:method:: get_closed_loop_slot(refresh: bool = True) -> phoenix6.status_signal.StatusSignal[int] The slot that the closed-loop PID is using. - Minimum Value: 0 - Maximum Value: 2 - Default Value: 0 - Units: Default Rates: - CAN 2.0: 4.0 Hz - CAN FD: 100.0 Hz (TimeSynced with Pro) This refreshes and returns a cached StatusSignal object. :param refresh: Whether to refresh the StatusSignal before returning it; defaults to true :type refresh: bool :returns: ClosedLoopSlot Status Signal Object :rtype: StatusSignal[int] .. py:method:: get_motor_output_status(refresh: bool = True) -> phoenix6.status_signal.StatusSignal[phoenix6.signals.spn_enums.MotorOutputStatusValue] Assess the status of the motor output with respect to load and supply. This routine can be used to determine the general status of motor commutation. Default Rates: - CAN 2.0: 4.0 Hz - CAN FD: 100.0 Hz (TimeSynced with Pro) This refreshes and returns a cached StatusSignal object. :param refresh: Whether to refresh the StatusSignal before returning it; defaults to true :type refresh: bool :returns: MotorOutputStatus Status Signal Object :rtype: StatusSignal[MotorOutputStatusValue] .. py:method:: get_differential_control_mode(refresh: bool = True) -> phoenix6.status_signal.StatusSignal[phoenix6.signals.spn_enums.DifferentialControlModeValue] The active control mode of the differential controller. Default Rates: - CAN 2.0: 100.0 Hz - CAN FD: 100.0 Hz (TimeSynced with Pro) This refreshes and returns a cached StatusSignal object. :param refresh: Whether to refresh the StatusSignal before returning it; defaults to true :type refresh: bool :returns: DifferentialControlMode Status Signal Object :rtype: StatusSignal[DifferentialControlModeValue] .. py:method:: get_differential_average_velocity(refresh: bool = True) -> phoenix6.status_signal.StatusSignal[phoenix6.units.rotations_per_second] Average component of the differential velocity of device. - Minimum Value: -512.0 - Maximum Value: 511.998046875 - Default Value: 0 - Units: rotations per second Default Rates: - CAN 2.0: 4.0 Hz - CAN FD: 100.0 Hz (TimeSynced with Pro) This refreshes and returns a cached StatusSignal object. :param refresh: Whether to refresh the StatusSignal before returning it; defaults to true :type refresh: bool :returns: DifferentialAverageVelocity Status Signal Object :rtype: StatusSignal[rotations_per_second] .. py:method:: get_differential_average_position(refresh: bool = True) -> phoenix6.status_signal.StatusSignal[phoenix6.units.rotation] Average component of the differential position of device. - Minimum Value: -16384.0 - Maximum Value: 16383.999755859375 - Default Value: 0 - Units: rotations Default Rates: - CAN 2.0: 4.0 Hz - CAN FD: 100.0 Hz (TimeSynced with Pro) This refreshes and returns a cached StatusSignal object. :param refresh: Whether to refresh the StatusSignal before returning it; defaults to true :type refresh: bool :returns: DifferentialAveragePosition Status Signal Object :rtype: StatusSignal[rotation] .. py:method:: get_differential_difference_velocity(refresh: bool = True) -> phoenix6.status_signal.StatusSignal[phoenix6.units.rotations_per_second] Difference component of the differential velocity of device. - Minimum Value: -512.0 - Maximum Value: 511.998046875 - Default Value: 0 - Units: rotations per second Default Rates: - CAN 2.0: 4.0 Hz - CAN FD: 100.0 Hz (TimeSynced with Pro) This refreshes and returns a cached StatusSignal object. :param refresh: Whether to refresh the StatusSignal before returning it; defaults to true :type refresh: bool :returns: DifferentialDifferenceVelocity Status Signal Object :rtype: StatusSignal[rotations_per_second] .. py:method:: get_differential_difference_position(refresh: bool = True) -> phoenix6.status_signal.StatusSignal[phoenix6.units.rotation] Difference component of the differential position of device. - Minimum Value: -16384.0 - Maximum Value: 16383.999755859375 - Default Value: 0 - Units: rotations Default Rates: - CAN 2.0: 4.0 Hz - CAN FD: 100.0 Hz (TimeSynced with Pro) This refreshes and returns a cached StatusSignal object. :param refresh: Whether to refresh the StatusSignal before returning it; defaults to true :type refresh: bool :returns: DifferentialDifferencePosition Status Signal Object :rtype: StatusSignal[rotation] .. py:method:: get_differential_closed_loop_slot(refresh: bool = True) -> phoenix6.status_signal.StatusSignal[int] The slot that the closed-loop differential PID is using. - Minimum Value: 0 - Maximum Value: 2 - Default Value: 0 - Units: Default Rates: - CAN 2.0: 4.0 Hz - CAN FD: 100.0 Hz (TimeSynced with Pro) This refreshes and returns a cached StatusSignal object. :param refresh: Whether to refresh the StatusSignal before returning it; defaults to true :type refresh: bool :returns: DifferentialClosedLoopSlot Status Signal Object :rtype: StatusSignal[int] .. py:method:: get_motor_kt(refresh: bool = True) -> phoenix6.status_signal.StatusSignal[phoenix6.units.newton_meters_per_ampere] The torque constant (K_T) of the motor. - Minimum Value: 0.0 - Maximum Value: 0.025500000000000002 - Default Value: 0 - Units: Nm/A Default Rates: - CAN: 4.0 Hz This refreshes and returns a cached StatusSignal object. :param refresh: Whether to refresh the StatusSignal before returning it; defaults to true :type refresh: bool :returns: MotorKT Status Signal Object :rtype: StatusSignal[newton_meters_per_ampere] .. py:method:: get_motor_kv(refresh: bool = True) -> phoenix6.status_signal.StatusSignal[phoenix6.units.rpm_per_volt] The velocity constant (K_V) of the motor. - Minimum Value: 0.0 - Maximum Value: 2047.0 - Default Value: 0 - Units: RPM/V Default Rates: - CAN: 4.0 Hz This refreshes and returns a cached StatusSignal object. :param refresh: Whether to refresh the StatusSignal before returning it; defaults to true :type refresh: bool :returns: MotorKV Status Signal Object :rtype: StatusSignal[rpm_per_volt] .. py:method:: get_motor_stall_current(refresh: bool = True) -> phoenix6.status_signal.StatusSignal[phoenix6.units.ampere] The stall current of the motor at 12 V output. - Minimum Value: 0.0 - Maximum Value: 1023.0 - Default Value: 0 - Units: A Default Rates: - CAN: 4.0 Hz This refreshes and returns a cached StatusSignal object. :param refresh: Whether to refresh the StatusSignal before returning it; defaults to true :type refresh: bool :returns: MotorStallCurrent Status Signal Object :rtype: StatusSignal[ampere] .. py:method:: get_bridge_output(refresh: bool = True) -> phoenix6.status_signal.StatusSignal[phoenix6.signals.spn_enums.BridgeOutputValue] The applied output of the bridge. Default Rates: - CAN 2.0: 100.0 Hz - CAN FD: 100.0 Hz (TimeSynced with Pro) This refreshes and returns a cached StatusSignal object. :param refresh: Whether to refresh the StatusSignal before returning it; defaults to true :type refresh: bool :returns: BridgeOutput Status Signal Object :rtype: StatusSignal[BridgeOutputValue] .. py:method:: get_is_pro_licensed(refresh: bool = True) -> phoenix6.status_signal.StatusSignal[bool] Whether the device is Phoenix Pro licensed. - Default Value: False Default Rates: - CAN: 4.0 Hz This refreshes and returns a cached StatusSignal object. :param refresh: Whether to refresh the StatusSignal before returning it; defaults to true :type refresh: bool :returns: IsProLicensed Status Signal Object :rtype: StatusSignal[bool] .. py:method:: get_ancillary_device_temp(refresh: bool = True) -> phoenix6.status_signal.StatusSignal[phoenix6.units.celsius] Temperature of device from second sensor. Newer versions of Talon have multiple temperature measurement methods. - Minimum Value: 0.0 - Maximum Value: 255.0 - Default Value: 0 - Units: ℃ Default Rates: - CAN 2.0: 4.0 Hz - CAN FD: 100.0 Hz (TimeSynced with Pro) This refreshes and returns a cached StatusSignal object. :param refresh: Whether to refresh the StatusSignal before returning it; defaults to true :type refresh: bool :returns: AncillaryDeviceTemp Status Signal Object :rtype: StatusSignal[celsius] .. py:method:: get_connected_motor(refresh: bool = True) -> phoenix6.status_signal.StatusSignal[phoenix6.signals.spn_enums.ConnectedMotorValue] The type of motor attached to the Talon. This can be used to determine what motor is attached to the Talon FX. Return will be "Unknown" if firmware is too old or device is not present. Default Rates: - CAN 2.0: 4.0 Hz - CAN FD: 100.0 Hz (TimeSynced with Pro) This refreshes and returns a cached StatusSignal object. :param refresh: Whether to refresh the StatusSignal before returning it; defaults to true :type refresh: bool :returns: ConnectedMotor Status Signal Object :rtype: StatusSignal[ConnectedMotorValue] .. py:method:: get_fault_hardware(refresh: bool = True) -> phoenix6.status_signal.StatusSignal[bool] Hardware fault occurred - Default Value: False Default Rates: - CAN: 4.0 Hz This refreshes and returns a cached StatusSignal object. :param refresh: Whether to refresh the StatusSignal before returning it; defaults to true :type refresh: bool :returns: Fault_Hardware Status Signal Object :rtype: StatusSignal[bool] .. py:method:: get_sticky_fault_hardware(refresh: bool = True) -> phoenix6.status_signal.StatusSignal[bool] Hardware fault occurred - Default Value: False Default Rates: - CAN: 4.0 Hz This refreshes and returns a cached StatusSignal object. :param refresh: Whether to refresh the StatusSignal before returning it; defaults to true :type refresh: bool :returns: StickyFault_Hardware Status Signal Object :rtype: StatusSignal[bool] .. py:method:: get_fault_proc_temp(refresh: bool = True) -> phoenix6.status_signal.StatusSignal[bool] Processor temperature exceeded limit - Default Value: False Default Rates: - CAN: 4.0 Hz This refreshes and returns a cached StatusSignal object. :param refresh: Whether to refresh the StatusSignal before returning it; defaults to true :type refresh: bool :returns: Fault_ProcTemp Status Signal Object :rtype: StatusSignal[bool] .. py:method:: get_sticky_fault_proc_temp(refresh: bool = True) -> phoenix6.status_signal.StatusSignal[bool] Processor temperature exceeded limit - Default Value: False Default Rates: - CAN: 4.0 Hz This refreshes and returns a cached StatusSignal object. :param refresh: Whether to refresh the StatusSignal before returning it; defaults to true :type refresh: bool :returns: StickyFault_ProcTemp Status Signal Object :rtype: StatusSignal[bool] .. py:method:: get_fault_device_temp(refresh: bool = True) -> phoenix6.status_signal.StatusSignal[bool] Device temperature exceeded limit - Default Value: False Default Rates: - CAN: 4.0 Hz This refreshes and returns a cached StatusSignal object. :param refresh: Whether to refresh the StatusSignal before returning it; defaults to true :type refresh: bool :returns: Fault_DeviceTemp Status Signal Object :rtype: StatusSignal[bool] .. py:method:: get_sticky_fault_device_temp(refresh: bool = True) -> phoenix6.status_signal.StatusSignal[bool] Device temperature exceeded limit - Default Value: False Default Rates: - CAN: 4.0 Hz This refreshes and returns a cached StatusSignal object. :param refresh: Whether to refresh the StatusSignal before returning it; defaults to true :type refresh: bool :returns: StickyFault_DeviceTemp Status Signal Object :rtype: StatusSignal[bool] .. py:method:: get_fault_undervoltage(refresh: bool = True) -> phoenix6.status_signal.StatusSignal[bool] Device supply voltage dropped to near brownout levels - Default Value: False Default Rates: - CAN: 4.0 Hz This refreshes and returns a cached StatusSignal object. :param refresh: Whether to refresh the StatusSignal before returning it; defaults to true :type refresh: bool :returns: Fault_Undervoltage Status Signal Object :rtype: StatusSignal[bool] .. py:method:: get_sticky_fault_undervoltage(refresh: bool = True) -> phoenix6.status_signal.StatusSignal[bool] Device supply voltage dropped to near brownout levels - Default Value: False Default Rates: - CAN: 4.0 Hz This refreshes and returns a cached StatusSignal object. :param refresh: Whether to refresh the StatusSignal before returning it; defaults to true :type refresh: bool :returns: StickyFault_Undervoltage Status Signal Object :rtype: StatusSignal[bool] .. py:method:: get_fault_boot_during_enable(refresh: bool = True) -> phoenix6.status_signal.StatusSignal[bool] Device boot while detecting the enable signal - Default Value: False Default Rates: - CAN: 4.0 Hz This refreshes and returns a cached StatusSignal object. :param refresh: Whether to refresh the StatusSignal before returning it; defaults to true :type refresh: bool :returns: Fault_BootDuringEnable Status Signal Object :rtype: StatusSignal[bool] .. py:method:: get_sticky_fault_boot_during_enable(refresh: bool = True) -> phoenix6.status_signal.StatusSignal[bool] Device boot while detecting the enable signal - Default Value: False Default Rates: - CAN: 4.0 Hz This refreshes and returns a cached StatusSignal object. :param refresh: Whether to refresh the StatusSignal before returning it; defaults to true :type refresh: bool :returns: StickyFault_BootDuringEnable Status Signal Object :rtype: StatusSignal[bool] .. py:method:: get_fault_unlicensed_feature_in_use(refresh: bool = True) -> phoenix6.status_signal.StatusSignal[bool] An unlicensed feature is in use, device may not behave as expected. - Default Value: False Default Rates: - CAN: 4.0 Hz This refreshes and returns a cached StatusSignal object. :param refresh: Whether to refresh the StatusSignal before returning it; defaults to true :type refresh: bool :returns: Fault_UnlicensedFeatureInUse Status Signal Object :rtype: StatusSignal[bool] .. py:method:: get_sticky_fault_unlicensed_feature_in_use(refresh: bool = True) -> phoenix6.status_signal.StatusSignal[bool] An unlicensed feature is in use, device may not behave as expected. - Default Value: False Default Rates: - CAN: 4.0 Hz This refreshes and returns a cached StatusSignal object. :param refresh: Whether to refresh the StatusSignal before returning it; defaults to true :type refresh: bool :returns: StickyFault_UnlicensedFeatureInUse Status Signal Object :rtype: StatusSignal[bool] .. py:method:: get_fault_bridge_brownout(refresh: bool = True) -> phoenix6.status_signal.StatusSignal[bool] Bridge was disabled most likely due to supply voltage dropping too low. - Default Value: False Default Rates: - CAN: 4.0 Hz This refreshes and returns a cached StatusSignal object. :param refresh: Whether to refresh the StatusSignal before returning it; defaults to true :type refresh: bool :returns: Fault_BridgeBrownout Status Signal Object :rtype: StatusSignal[bool] .. py:method:: get_sticky_fault_bridge_brownout(refresh: bool = True) -> phoenix6.status_signal.StatusSignal[bool] Bridge was disabled most likely due to supply voltage dropping too low. - Default Value: False Default Rates: - CAN: 4.0 Hz This refreshes and returns a cached StatusSignal object. :param refresh: Whether to refresh the StatusSignal before returning it; defaults to true :type refresh: bool :returns: StickyFault_BridgeBrownout Status Signal Object :rtype: StatusSignal[bool] .. py:method:: get_fault_remote_sensor_reset(refresh: bool = True) -> phoenix6.status_signal.StatusSignal[bool] The remote sensor has reset. - Default Value: False Default Rates: - CAN: 4.0 Hz This refreshes and returns a cached StatusSignal object. :param refresh: Whether to refresh the StatusSignal before returning it; defaults to true :type refresh: bool :returns: Fault_RemoteSensorReset Status Signal Object :rtype: StatusSignal[bool] .. py:method:: get_sticky_fault_remote_sensor_reset(refresh: bool = True) -> phoenix6.status_signal.StatusSignal[bool] The remote sensor has reset. - Default Value: False Default Rates: - CAN: 4.0 Hz This refreshes and returns a cached StatusSignal object. :param refresh: Whether to refresh the StatusSignal before returning it; defaults to true :type refresh: bool :returns: StickyFault_RemoteSensorReset Status Signal Object :rtype: StatusSignal[bool] .. py:method:: get_fault_missing_differential_fx(refresh: bool = True) -> phoenix6.status_signal.StatusSignal[bool] The remote Talon used for differential control is not present on CAN Bus. - Default Value: False Default Rates: - CAN: 4.0 Hz This refreshes and returns a cached StatusSignal object. :param refresh: Whether to refresh the StatusSignal before returning it; defaults to true :type refresh: bool :returns: Fault_MissingDifferentialFX Status Signal Object :rtype: StatusSignal[bool] .. py:method:: get_sticky_fault_missing_differential_fx(refresh: bool = True) -> phoenix6.status_signal.StatusSignal[bool] The remote Talon used for differential control is not present on CAN Bus. - Default Value: False Default Rates: - CAN: 4.0 Hz This refreshes and returns a cached StatusSignal object. :param refresh: Whether to refresh the StatusSignal before returning it; defaults to true :type refresh: bool :returns: StickyFault_MissingDifferentialFX Status Signal Object :rtype: StatusSignal[bool] .. py:method:: get_fault_remote_sensor_pos_overflow(refresh: bool = True) -> phoenix6.status_signal.StatusSignal[bool] The remote sensor position has overflowed. Because of the nature of remote sensors, it is possible for the remote sensor position to overflow beyond what is supported by the status signal frame. However, this is rare and cannot occur over the course of an FRC match under normal use. - Default Value: False Default Rates: - CAN: 4.0 Hz This refreshes and returns a cached StatusSignal object. :param refresh: Whether to refresh the StatusSignal before returning it; defaults to true :type refresh: bool :returns: Fault_RemoteSensorPosOverflow Status Signal Object :rtype: StatusSignal[bool] .. py:method:: get_sticky_fault_remote_sensor_pos_overflow(refresh: bool = True) -> phoenix6.status_signal.StatusSignal[bool] The remote sensor position has overflowed. Because of the nature of remote sensors, it is possible for the remote sensor position to overflow beyond what is supported by the status signal frame. However, this is rare and cannot occur over the course of an FRC match under normal use. - Default Value: False Default Rates: - CAN: 4.0 Hz This refreshes and returns a cached StatusSignal object. :param refresh: Whether to refresh the StatusSignal before returning it; defaults to true :type refresh: bool :returns: StickyFault_RemoteSensorPosOverflow Status Signal Object :rtype: StatusSignal[bool] .. py:method:: get_fault_over_supply_v(refresh: bool = True) -> phoenix6.status_signal.StatusSignal[bool] Supply Voltage has exceeded the maximum voltage rating of device. - Default Value: False Default Rates: - CAN: 4.0 Hz This refreshes and returns a cached StatusSignal object. :param refresh: Whether to refresh the StatusSignal before returning it; defaults to true :type refresh: bool :returns: Fault_OverSupplyV Status Signal Object :rtype: StatusSignal[bool] .. py:method:: get_sticky_fault_over_supply_v(refresh: bool = True) -> phoenix6.status_signal.StatusSignal[bool] Supply Voltage has exceeded the maximum voltage rating of device. - Default Value: False Default Rates: - CAN: 4.0 Hz This refreshes and returns a cached StatusSignal object. :param refresh: Whether to refresh the StatusSignal before returning it; defaults to true :type refresh: bool :returns: StickyFault_OverSupplyV Status Signal Object :rtype: StatusSignal[bool] .. py:method:: get_fault_unstable_supply_v(refresh: bool = True) -> phoenix6.status_signal.StatusSignal[bool] Supply Voltage is unstable. Ensure you are using a battery and current limited power supply. - Default Value: False Default Rates: - CAN: 4.0 Hz This refreshes and returns a cached StatusSignal object. :param refresh: Whether to refresh the StatusSignal before returning it; defaults to true :type refresh: bool :returns: Fault_UnstableSupplyV Status Signal Object :rtype: StatusSignal[bool] .. py:method:: get_sticky_fault_unstable_supply_v(refresh: bool = True) -> phoenix6.status_signal.StatusSignal[bool] Supply Voltage is unstable. Ensure you are using a battery and current limited power supply. - Default Value: False Default Rates: - CAN: 4.0 Hz This refreshes and returns a cached StatusSignal object. :param refresh: Whether to refresh the StatusSignal before returning it; defaults to true :type refresh: bool :returns: StickyFault_UnstableSupplyV Status Signal Object :rtype: StatusSignal[bool] .. py:method:: get_fault_reverse_hard_limit(refresh: bool = True) -> phoenix6.status_signal.StatusSignal[bool] Reverse limit switch has been asserted. Output is set to neutral. - Default Value: False Default Rates: - CAN: 4.0 Hz This refreshes and returns a cached StatusSignal object. :param refresh: Whether to refresh the StatusSignal before returning it; defaults to true :type refresh: bool :returns: Fault_ReverseHardLimit Status Signal Object :rtype: StatusSignal[bool] .. py:method:: get_sticky_fault_reverse_hard_limit(refresh: bool = True) -> phoenix6.status_signal.StatusSignal[bool] Reverse limit switch has been asserted. Output is set to neutral. - Default Value: False Default Rates: - CAN: 4.0 Hz This refreshes and returns a cached StatusSignal object. :param refresh: Whether to refresh the StatusSignal before returning it; defaults to true :type refresh: bool :returns: StickyFault_ReverseHardLimit Status Signal Object :rtype: StatusSignal[bool] .. py:method:: get_fault_forward_hard_limit(refresh: bool = True) -> phoenix6.status_signal.StatusSignal[bool] Forward limit switch has been asserted. Output is set to neutral. - Default Value: False Default Rates: - CAN: 4.0 Hz This refreshes and returns a cached StatusSignal object. :param refresh: Whether to refresh the StatusSignal before returning it; defaults to true :type refresh: bool :returns: Fault_ForwardHardLimit Status Signal Object :rtype: StatusSignal[bool] .. py:method:: get_sticky_fault_forward_hard_limit(refresh: bool = True) -> phoenix6.status_signal.StatusSignal[bool] Forward limit switch has been asserted. Output is set to neutral. - Default Value: False Default Rates: - CAN: 4.0 Hz This refreshes and returns a cached StatusSignal object. :param refresh: Whether to refresh the StatusSignal before returning it; defaults to true :type refresh: bool :returns: StickyFault_ForwardHardLimit Status Signal Object :rtype: StatusSignal[bool] .. py:method:: get_fault_reverse_soft_limit(refresh: bool = True) -> phoenix6.status_signal.StatusSignal[bool] Reverse soft limit has been asserted. Output is set to neutral. - Default Value: False Default Rates: - CAN: 4.0 Hz This refreshes and returns a cached StatusSignal object. :param refresh: Whether to refresh the StatusSignal before returning it; defaults to true :type refresh: bool :returns: Fault_ReverseSoftLimit Status Signal Object :rtype: StatusSignal[bool] .. py:method:: get_sticky_fault_reverse_soft_limit(refresh: bool = True) -> phoenix6.status_signal.StatusSignal[bool] Reverse soft limit has been asserted. Output is set to neutral. - Default Value: False Default Rates: - CAN: 4.0 Hz This refreshes and returns a cached StatusSignal object. :param refresh: Whether to refresh the StatusSignal before returning it; defaults to true :type refresh: bool :returns: StickyFault_ReverseSoftLimit Status Signal Object :rtype: StatusSignal[bool] .. py:method:: get_fault_forward_soft_limit(refresh: bool = True) -> phoenix6.status_signal.StatusSignal[bool] Forward soft limit has been asserted. Output is set to neutral. - Default Value: False Default Rates: - CAN: 4.0 Hz This refreshes and returns a cached StatusSignal object. :param refresh: Whether to refresh the StatusSignal before returning it; defaults to true :type refresh: bool :returns: Fault_ForwardSoftLimit Status Signal Object :rtype: StatusSignal[bool] .. py:method:: get_sticky_fault_forward_soft_limit(refresh: bool = True) -> phoenix6.status_signal.StatusSignal[bool] Forward soft limit has been asserted. Output is set to neutral. - Default Value: False Default Rates: - CAN: 4.0 Hz This refreshes and returns a cached StatusSignal object. :param refresh: Whether to refresh the StatusSignal before returning it; defaults to true :type refresh: bool :returns: StickyFault_ForwardSoftLimit Status Signal Object :rtype: StatusSignal[bool] .. py:method:: get_fault_missing_soft_limit_remote(refresh: bool = True) -> phoenix6.status_signal.StatusSignal[bool] The remote soft limit device is not present on CAN Bus. - Default Value: False Default Rates: - CAN: 4.0 Hz This refreshes and returns a cached StatusSignal object. :param refresh: Whether to refresh the StatusSignal before returning it; defaults to true :type refresh: bool :returns: Fault_MissingSoftLimitRemote Status Signal Object :rtype: StatusSignal[bool] .. py:method:: get_sticky_fault_missing_soft_limit_remote(refresh: bool = True) -> phoenix6.status_signal.StatusSignal[bool] The remote soft limit device is not present on CAN Bus. - Default Value: False Default Rates: - CAN: 4.0 Hz This refreshes and returns a cached StatusSignal object. :param refresh: Whether to refresh the StatusSignal before returning it; defaults to true :type refresh: bool :returns: StickyFault_MissingSoftLimitRemote Status Signal Object :rtype: StatusSignal[bool] .. py:method:: get_fault_missing_hard_limit_remote(refresh: bool = True) -> phoenix6.status_signal.StatusSignal[bool] The remote limit switch device is not present on CAN Bus. - Default Value: False Default Rates: - CAN: 4.0 Hz This refreshes and returns a cached StatusSignal object. :param refresh: Whether to refresh the StatusSignal before returning it; defaults to true :type refresh: bool :returns: Fault_MissingHardLimitRemote Status Signal Object :rtype: StatusSignal[bool] .. py:method:: get_sticky_fault_missing_hard_limit_remote(refresh: bool = True) -> phoenix6.status_signal.StatusSignal[bool] The remote limit switch device is not present on CAN Bus. - Default Value: False Default Rates: - CAN: 4.0 Hz This refreshes and returns a cached StatusSignal object. :param refresh: Whether to refresh the StatusSignal before returning it; defaults to true :type refresh: bool :returns: StickyFault_MissingHardLimitRemote Status Signal Object :rtype: StatusSignal[bool] .. py:method:: get_fault_remote_sensor_data_invalid(refresh: bool = True) -> phoenix6.status_signal.StatusSignal[bool] The remote sensor's data is no longer trusted. This can happen if the remote sensor disappears from the CAN bus or if the remote sensor indicates its data is no longer valid, such as when a CANcoder's magnet strength falls into the "red" range. - Default Value: False Default Rates: - CAN: 4.0 Hz This refreshes and returns a cached StatusSignal object. :param refresh: Whether to refresh the StatusSignal before returning it; defaults to true :type refresh: bool :returns: Fault_RemoteSensorDataInvalid Status Signal Object :rtype: StatusSignal[bool] .. py:method:: get_sticky_fault_remote_sensor_data_invalid(refresh: bool = True) -> phoenix6.status_signal.StatusSignal[bool] The remote sensor's data is no longer trusted. This can happen if the remote sensor disappears from the CAN bus or if the remote sensor indicates its data is no longer valid, such as when a CANcoder's magnet strength falls into the "red" range. - Default Value: False Default Rates: - CAN: 4.0 Hz This refreshes and returns a cached StatusSignal object. :param refresh: Whether to refresh the StatusSignal before returning it; defaults to true :type refresh: bool :returns: StickyFault_RemoteSensorDataInvalid Status Signal Object :rtype: StatusSignal[bool] .. py:method:: get_fault_fused_sensor_out_of_sync(refresh: bool = True) -> phoenix6.status_signal.StatusSignal[bool] The remote sensor used for fusion has fallen out of sync to the local sensor. A re-synchronization has occurred, which may cause a discontinuity. This typically happens if there is significant slop in the mechanism, or if the RotorToSensorRatio configuration parameter is incorrect. - Default Value: False Default Rates: - CAN: 4.0 Hz This refreshes and returns a cached StatusSignal object. :param refresh: Whether to refresh the StatusSignal before returning it; defaults to true :type refresh: bool :returns: Fault_FusedSensorOutOfSync Status Signal Object :rtype: StatusSignal[bool] .. py:method:: get_sticky_fault_fused_sensor_out_of_sync(refresh: bool = True) -> phoenix6.status_signal.StatusSignal[bool] The remote sensor used for fusion has fallen out of sync to the local sensor. A re-synchronization has occurred, which may cause a discontinuity. This typically happens if there is significant slop in the mechanism, or if the RotorToSensorRatio configuration parameter is incorrect. - Default Value: False Default Rates: - CAN: 4.0 Hz This refreshes and returns a cached StatusSignal object. :param refresh: Whether to refresh the StatusSignal before returning it; defaults to true :type refresh: bool :returns: StickyFault_FusedSensorOutOfSync Status Signal Object :rtype: StatusSignal[bool] .. py:method:: get_fault_stator_curr_limit(refresh: bool = True) -> phoenix6.status_signal.StatusSignal[bool] Stator current limit occured. - Default Value: False Default Rates: - CAN: 4.0 Hz This refreshes and returns a cached StatusSignal object. :param refresh: Whether to refresh the StatusSignal before returning it; defaults to true :type refresh: bool :returns: Fault_StatorCurrLimit Status Signal Object :rtype: StatusSignal[bool] .. py:method:: get_sticky_fault_stator_curr_limit(refresh: bool = True) -> phoenix6.status_signal.StatusSignal[bool] Stator current limit occured. - Default Value: False Default Rates: - CAN: 4.0 Hz This refreshes and returns a cached StatusSignal object. :param refresh: Whether to refresh the StatusSignal before returning it; defaults to true :type refresh: bool :returns: StickyFault_StatorCurrLimit Status Signal Object :rtype: StatusSignal[bool] .. py:method:: get_fault_supply_curr_limit(refresh: bool = True) -> phoenix6.status_signal.StatusSignal[bool] Supply current limit occured. - Default Value: False Default Rates: - CAN: 4.0 Hz This refreshes and returns a cached StatusSignal object. :param refresh: Whether to refresh the StatusSignal before returning it; defaults to true :type refresh: bool :returns: Fault_SupplyCurrLimit Status Signal Object :rtype: StatusSignal[bool] .. py:method:: get_sticky_fault_supply_curr_limit(refresh: bool = True) -> phoenix6.status_signal.StatusSignal[bool] Supply current limit occured. - Default Value: False Default Rates: - CAN: 4.0 Hz This refreshes and returns a cached StatusSignal object. :param refresh: Whether to refresh the StatusSignal before returning it; defaults to true :type refresh: bool :returns: StickyFault_SupplyCurrLimit Status Signal Object :rtype: StatusSignal[bool] .. py:method:: get_fault_using_fused_cancoder_while_unlicensed(refresh: bool = True) -> phoenix6.status_signal.StatusSignal[bool] Using Fused CANcoder feature while unlicensed. Device has fallen back to remote CANcoder. - Default Value: False Default Rates: - CAN: 4.0 Hz This refreshes and returns a cached StatusSignal object. :param refresh: Whether to refresh the StatusSignal before returning it; defaults to true :type refresh: bool :returns: Fault_UsingFusedCANcoderWhileUnlicensed Status Signal Object :rtype: StatusSignal[bool] .. py:method:: get_sticky_fault_using_fused_cancoder_while_unlicensed(refresh: bool = True) -> phoenix6.status_signal.StatusSignal[bool] Using Fused CANcoder feature while unlicensed. Device has fallen back to remote CANcoder. - Default Value: False Default Rates: - CAN: 4.0 Hz This refreshes and returns a cached StatusSignal object. :param refresh: Whether to refresh the StatusSignal before returning it; defaults to true :type refresh: bool :returns: StickyFault_UsingFusedCANcoderWhileUnlicensed Status Signal Object :rtype: StatusSignal[bool] .. py:method:: get_fault_static_brake_disabled(refresh: bool = True) -> phoenix6.status_signal.StatusSignal[bool] Static brake was momentarily disabled due to excessive braking current while disabled. - Default Value: False Default Rates: - CAN: 4.0 Hz This refreshes and returns a cached StatusSignal object. :param refresh: Whether to refresh the StatusSignal before returning it; defaults to true :type refresh: bool :returns: Fault_StaticBrakeDisabled Status Signal Object :rtype: StatusSignal[bool] .. py:method:: get_sticky_fault_static_brake_disabled(refresh: bool = True) -> phoenix6.status_signal.StatusSignal[bool] Static brake was momentarily disabled due to excessive braking current while disabled. - Default Value: False Default Rates: - CAN: 4.0 Hz This refreshes and returns a cached StatusSignal object. :param refresh: Whether to refresh the StatusSignal before returning it; defaults to true :type refresh: bool :returns: StickyFault_StaticBrakeDisabled Status Signal Object :rtype: StatusSignal[bool] .. py:method:: get_fault_rotor_fault1(refresh: bool = True) -> phoenix6.status_signal.StatusSignal[bool] Trips if a major mechanical or ESD event caused a brief loss of position data triggering a recovery while not in motion. If the event occurs often, inspect for excess axial force or sources of ESD at the rotor. - Default Value: False Default Rates: - CAN: 4.0 Hz This refreshes and returns a cached StatusSignal object. :param refresh: Whether to refresh the StatusSignal before returning it; defaults to true :type refresh: bool :returns: Fault_RotorFault1 Status Signal Object :rtype: StatusSignal[bool] .. py:method:: get_sticky_fault_rotor_fault1(refresh: bool = True) -> phoenix6.status_signal.StatusSignal[bool] Trips if a major mechanical or ESD event caused a brief loss of position data triggering a recovery while not in motion. If the event occurs often, inspect for excess axial force or sources of ESD at the rotor. - Default Value: False Default Rates: - CAN: 4.0 Hz This refreshes and returns a cached StatusSignal object. :param refresh: Whether to refresh the StatusSignal before returning it; defaults to true :type refresh: bool :returns: StickyFault_RotorFault1 Status Signal Object :rtype: StatusSignal[bool] .. py:method:: get_fault_rotor_fault2(refresh: bool = True) -> phoenix6.status_signal.StatusSignal[bool] Trips if a major mechanical or ESD event caused a brief loss of position data triggering a recovery while in motion. If the event occurs often, inspect for excess axial force or sources of ESD at the rotor. - Default Value: False Default Rates: - CAN: 4.0 Hz This refreshes and returns a cached StatusSignal object. :param refresh: Whether to refresh the StatusSignal before returning it; defaults to true :type refresh: bool :returns: Fault_RotorFault2 Status Signal Object :rtype: StatusSignal[bool] .. py:method:: get_sticky_fault_rotor_fault2(refresh: bool = True) -> phoenix6.status_signal.StatusSignal[bool] Trips if a major mechanical or ESD event caused a brief loss of position data triggering a recovery while in motion. If the event occurs often, inspect for excess axial force or sources of ESD at the rotor. - Default Value: False Default Rates: - CAN: 4.0 Hz This refreshes and returns a cached StatusSignal object. :param refresh: Whether to refresh the StatusSignal before returning it; defaults to true :type refresh: bool :returns: StickyFault_RotorFault2 Status Signal Object :rtype: StatusSignal[bool] .. py:method:: get_closed_loop_proportional_output(refresh: bool = True) -> phoenix6.status_signal.StatusSignal[float] Closed loop proportional component. The portion of the closed loop output that is proportional to the error. Alternatively, the kP contribution of the closed loop output. When using differential control, this applies to the average axis. Default Rates: - CAN 2.0: 4.0 Hz - CAN FD: 100.0 Hz (TimeSynced with Pro) This refreshes and returns a cached StatusSignal object. :param refresh: Whether to refresh the StatusSignal before returning it; defaults to true :type refresh: bool :returns: ClosedLoopProportionalOutput Status Signal object :rtype: StatusSignal[float] .. py:method:: get_closed_loop_integrated_output(refresh: bool = True) -> phoenix6.status_signal.StatusSignal[float] Closed loop integrated component. The portion of the closed loop output that is proportional to the integrated error. Alternatively, the kI contribution of the closed loop output. When using differential control, this applies to the average axis. Default Rates: - CAN 2.0: 4.0 Hz - CAN FD: 100.0 Hz (TimeSynced with Pro) This refreshes and returns a cached StatusSignal object. :param refresh: Whether to refresh the StatusSignal before returning it; defaults to true :type refresh: bool :returns: ClosedLoopIntegratedOutput Status Signal object :rtype: StatusSignal[float] .. py:method:: get_closed_loop_feed_forward(refresh: bool = True) -> phoenix6.status_signal.StatusSignal[float] Feedforward passed by the user. This is the general feedforward that the user provides for the closed loop. When using differential control, this applies to the average axis. Default Rates: - CAN 2.0: 4.0 Hz - CAN FD: 100.0 Hz (TimeSynced with Pro) This refreshes and returns a cached StatusSignal object. :param refresh: Whether to refresh the StatusSignal before returning it; defaults to true :type refresh: bool :returns: ClosedLoopFeedForward Status Signal object :rtype: StatusSignal[float] .. py:method:: get_closed_loop_derivative_output(refresh: bool = True) -> phoenix6.status_signal.StatusSignal[float] Closed loop derivative component. The portion of the closed loop output that is proportional to the deriviative of error. Alternatively, the kD contribution of the closed loop output. When using differential control, this applies to the average axis. Default Rates: - CAN 2.0: 4.0 Hz - CAN FD: 100.0 Hz (TimeSynced with Pro) This refreshes and returns a cached StatusSignal object. :param refresh: Whether to refresh the StatusSignal before returning it; defaults to true :type refresh: bool :returns: ClosedLoopDerivativeOutput Status Signal object :rtype: StatusSignal[float] .. py:method:: get_closed_loop_output(refresh: bool = True) -> phoenix6.status_signal.StatusSignal[float] Closed loop total output. The total output of the closed loop output. When using differential control, this applies to the average axis. Default Rates: - CAN 2.0: 4.0 Hz - CAN FD: 100.0 Hz (TimeSynced with Pro) This refreshes and returns a cached StatusSignal object. :param refresh: Whether to refresh the StatusSignal before returning it; defaults to true :type refresh: bool :returns: ClosedLoopOutput Status Signal object :rtype: StatusSignal[float] .. py:method:: get_closed_loop_reference(refresh: bool = True) -> phoenix6.status_signal.StatusSignal[float] Value that the closed loop is targeting. This is the value that the closed loop PID controller targets. When using differential control, this applies to the average axis. Default Rates: - CAN 2.0: 4.0 Hz - CAN FD: 100.0 Hz (TimeSynced with Pro) This refreshes and returns a cached StatusSignal object. :param refresh: Whether to refresh the StatusSignal before returning it; defaults to true :type refresh: bool :returns: ClosedLoopReference Status Signal object :rtype: StatusSignal[float] .. py:method:: get_closed_loop_reference_slope(refresh: bool = True) -> phoenix6.status_signal.StatusSignal[float] Derivative of the target that the closed loop is targeting. This is the change in the closed loop reference. This may be used in the feed-forward calculation, the derivative-error, or in application of the signage for kS. Typically, this represents the target velocity during Motion Magic®. When using differential control, this applies to the average axis. Default Rates: - CAN 2.0: 4.0 Hz - CAN FD: 100.0 Hz (TimeSynced with Pro) This refreshes and returns a cached StatusSignal object. :param refresh: Whether to refresh the StatusSignal before returning it; defaults to true :type refresh: bool :returns: ClosedLoopReferenceSlope Status Signal object :rtype: StatusSignal[float] .. py:method:: get_closed_loop_error(refresh: bool = True) -> phoenix6.status_signal.StatusSignal[float] The difference between target reference and current measurement. This is the value that is treated as the error in the PID loop. When using differential control, this applies to the average axis. Default Rates: - CAN 2.0: 4.0 Hz - CAN FD: 100.0 Hz (TimeSynced with Pro) This refreshes and returns a cached StatusSignal object. :param refresh: Whether to refresh the StatusSignal before returning it; defaults to true :type refresh: bool :returns: ClosedLoopError Status Signal object :rtype: StatusSignal[float] .. py:method:: get_differential_output(refresh: bool = True) -> phoenix6.status_signal.StatusSignal[float] The calculated motor output for differential followers. This is a torque request when using the TorqueCurrentFOC control output type, a voltage request when using the Voltage control output type, and a duty cycle when using the DutyCycle control output type. Default Rates: - CAN 2.0: 100.0 Hz - CAN FD: 100.0 Hz (TimeSynced with Pro) This refreshes and returns a cached StatusSignal object. :param refresh: Whether to refresh the StatusSignal before returning it; defaults to true :type refresh: bool :returns: DifferentialOutput Status Signal object :rtype: StatusSignal[float] .. py:method:: get_differential_closed_loop_proportional_output(refresh: bool = True) -> phoenix6.status_signal.StatusSignal[float] Differential closed loop proportional component. The portion of the differential closed loop output (on the difference axis) that is proportional to the error. Alternatively, the kP contribution of the closed loop output. Default Rates: - CAN 2.0: 4.0 Hz - CAN FD: 100.0 Hz (TimeSynced with Pro) This refreshes and returns a cached StatusSignal object. :param refresh: Whether to refresh the StatusSignal before returning it; defaults to true :type refresh: bool :returns: DifferentialClosedLoopProportionalOutput Status Signal object :rtype: StatusSignal[float] .. py:method:: get_differential_closed_loop_integrated_output(refresh: bool = True) -> phoenix6.status_signal.StatusSignal[float] Differential closed loop integrated component. The portion of the differential closed loop output (on the difference axis) that is proportional to the integrated error. Alternatively, the kI contribution of the closed loop output. Default Rates: - CAN 2.0: 100.0 Hz - CAN FD: 100.0 Hz (TimeSynced with Pro) This refreshes and returns a cached StatusSignal object. :param refresh: Whether to refresh the StatusSignal before returning it; defaults to true :type refresh: bool :returns: DifferentialClosedLoopIntegratedOutput Status Signal object :rtype: StatusSignal[float] .. py:method:: get_differential_closed_loop_feed_forward(refresh: bool = True) -> phoenix6.status_signal.StatusSignal[float] Differential Feedforward passed by the user. This is the general feedforward that the user provides for the differential closed loop (on the difference axis). Default Rates: - CAN 2.0: 100.0 Hz - CAN FD: 100.0 Hz (TimeSynced with Pro) This refreshes and returns a cached StatusSignal object. :param refresh: Whether to refresh the StatusSignal before returning it; defaults to true :type refresh: bool :returns: DifferentialClosedLoopFeedForward Status Signal object :rtype: StatusSignal[float] .. py:method:: get_differential_closed_loop_derivative_output(refresh: bool = True) -> phoenix6.status_signal.StatusSignal[float] Differential closed loop derivative component. The portion of the differential closed loop output (on the difference axis) that is proportional to the deriviative of error. Alternatively, the kD contribution of the closed loop output. Default Rates: - CAN 2.0: 4.0 Hz - CAN FD: 100.0 Hz (TimeSynced with Pro) This refreshes and returns a cached StatusSignal object. :param refresh: Whether to refresh the StatusSignal before returning it; defaults to true :type refresh: bool :returns: DifferentialClosedLoopDerivativeOutput Status Signal object :rtype: StatusSignal[float] .. py:method:: get_differential_closed_loop_output(refresh: bool = True) -> phoenix6.status_signal.StatusSignal[float] Differential closed loop total output. The total output of the differential closed loop output (on the difference axis). Default Rates: - CAN 2.0: 4.0 Hz - CAN FD: 100.0 Hz (TimeSynced with Pro) This refreshes and returns a cached StatusSignal object. :param refresh: Whether to refresh the StatusSignal before returning it; defaults to true :type refresh: bool :returns: DifferentialClosedLoopOutput Status Signal object :rtype: StatusSignal[float] .. py:method:: get_differential_closed_loop_reference(refresh: bool = True) -> phoenix6.status_signal.StatusSignal[float] Value that the differential closed loop is targeting. This is the value that the differential closed loop PID controller targets (on the difference axis). Default Rates: - CAN 2.0: 4.0 Hz - CAN FD: 100.0 Hz (TimeSynced with Pro) This refreshes and returns a cached StatusSignal object. :param refresh: Whether to refresh the StatusSignal before returning it; defaults to true :type refresh: bool :returns: DifferentialClosedLoopReference Status Signal object :rtype: StatusSignal[float] .. py:method:: get_differential_closed_loop_reference_slope(refresh: bool = True) -> phoenix6.status_signal.StatusSignal[float] Derivative of the target that the differential closed loop is targeting. This is the change in the closed loop reference (on the difference axis). This may be used in the feed-forward calculation, the derivative-error, or in application of the signage for kS. Typically, this represents the target velocity during Motion Magic®. Default Rates: - CAN 2.0: 4.0 Hz - CAN FD: 100.0 Hz (TimeSynced with Pro) This refreshes and returns a cached StatusSignal object. :param refresh: Whether to refresh the StatusSignal before returning it; defaults to true :type refresh: bool :returns: DifferentialClosedLoopReferenceSlope Status Signal object :rtype: StatusSignal[float] .. py:method:: get_differential_closed_loop_error(refresh: bool = True) -> phoenix6.status_signal.StatusSignal[float] The difference between target differential reference and current measurement. This is the value that is treated as the error in the differential PID loop (on the difference axis). Default Rates: - CAN 2.0: 4.0 Hz - CAN FD: 100.0 Hz (TimeSynced with Pro) This refreshes and returns a cached StatusSignal object. :param refresh: Whether to refresh the StatusSignal before returning it; defaults to true :type refresh: bool :returns: DifferentialClosedLoopError Status Signal object :rtype: StatusSignal[float] .. py:method:: set_control(request: phoenix6.controls.duty_cycle_out.DutyCycleOut) -> phoenix6.status_code.StatusCode set_control(request: phoenix6.controls.torque_current_foc.TorqueCurrentFOC) -> phoenix6.status_code.StatusCode set_control(request: phoenix6.controls.voltage_out.VoltageOut) -> phoenix6.status_code.StatusCode set_control(request: phoenix6.controls.position_duty_cycle.PositionDutyCycle) -> phoenix6.status_code.StatusCode set_control(request: phoenix6.controls.position_voltage.PositionVoltage) -> phoenix6.status_code.StatusCode set_control(request: phoenix6.controls.position_torque_current_foc.PositionTorqueCurrentFOC) -> phoenix6.status_code.StatusCode set_control(request: phoenix6.controls.velocity_duty_cycle.VelocityDutyCycle) -> phoenix6.status_code.StatusCode set_control(request: phoenix6.controls.velocity_voltage.VelocityVoltage) -> phoenix6.status_code.StatusCode set_control(request: phoenix6.controls.velocity_torque_current_foc.VelocityTorqueCurrentFOC) -> phoenix6.status_code.StatusCode set_control(request: phoenix6.controls.motion_magic_duty_cycle.MotionMagicDutyCycle) -> phoenix6.status_code.StatusCode set_control(request: phoenix6.controls.motion_magic_voltage.MotionMagicVoltage) -> phoenix6.status_code.StatusCode set_control(request: phoenix6.controls.motion_magic_torque_current_foc.MotionMagicTorqueCurrentFOC) -> phoenix6.status_code.StatusCode set_control(request: phoenix6.controls.differential_duty_cycle.DifferentialDutyCycle) -> phoenix6.status_code.StatusCode set_control(request: phoenix6.controls.differential_voltage.DifferentialVoltage) -> phoenix6.status_code.StatusCode set_control(request: phoenix6.controls.differential_position_duty_cycle.DifferentialPositionDutyCycle) -> phoenix6.status_code.StatusCode set_control(request: phoenix6.controls.differential_position_voltage.DifferentialPositionVoltage) -> phoenix6.status_code.StatusCode set_control(request: phoenix6.controls.differential_velocity_duty_cycle.DifferentialVelocityDutyCycle) -> phoenix6.status_code.StatusCode set_control(request: phoenix6.controls.differential_velocity_voltage.DifferentialVelocityVoltage) -> phoenix6.status_code.StatusCode set_control(request: phoenix6.controls.differential_motion_magic_duty_cycle.DifferentialMotionMagicDutyCycle) -> phoenix6.status_code.StatusCode set_control(request: phoenix6.controls.differential_motion_magic_voltage.DifferentialMotionMagicVoltage) -> phoenix6.status_code.StatusCode set_control(request: phoenix6.controls.differential_motion_magic_expo_duty_cycle.DifferentialMotionMagicExpoDutyCycle) -> phoenix6.status_code.StatusCode set_control(request: phoenix6.controls.differential_motion_magic_expo_voltage.DifferentialMotionMagicExpoVoltage) -> phoenix6.status_code.StatusCode set_control(request: phoenix6.controls.differential_motion_magic_velocity_duty_cycle.DifferentialMotionMagicVelocityDutyCycle) -> phoenix6.status_code.StatusCode set_control(request: phoenix6.controls.differential_motion_magic_velocity_voltage.DifferentialMotionMagicVelocityVoltage) -> phoenix6.status_code.StatusCode set_control(request: phoenix6.controls.follower.Follower) -> phoenix6.status_code.StatusCode set_control(request: phoenix6.controls.strict_follower.StrictFollower) -> phoenix6.status_code.StatusCode set_control(request: phoenix6.controls.differential_follower.DifferentialFollower) -> phoenix6.status_code.StatusCode set_control(request: phoenix6.controls.differential_strict_follower.DifferentialStrictFollower) -> phoenix6.status_code.StatusCode set_control(request: phoenix6.controls.neutral_out.NeutralOut) -> phoenix6.status_code.StatusCode set_control(request: phoenix6.controls.coast_out.CoastOut) -> phoenix6.status_code.StatusCode set_control(request: phoenix6.controls.static_brake.StaticBrake) -> phoenix6.status_code.StatusCode set_control(request: phoenix6.controls.music_tone.MusicTone) -> phoenix6.status_code.StatusCode set_control(request: phoenix6.controls.motion_magic_velocity_duty_cycle.MotionMagicVelocityDutyCycle) -> phoenix6.status_code.StatusCode set_control(request: phoenix6.controls.motion_magic_velocity_torque_current_foc.MotionMagicVelocityTorqueCurrentFOC) -> phoenix6.status_code.StatusCode set_control(request: phoenix6.controls.motion_magic_velocity_voltage.MotionMagicVelocityVoltage) -> phoenix6.status_code.StatusCode set_control(request: phoenix6.controls.motion_magic_expo_duty_cycle.MotionMagicExpoDutyCycle) -> phoenix6.status_code.StatusCode set_control(request: phoenix6.controls.motion_magic_expo_voltage.MotionMagicExpoVoltage) -> phoenix6.status_code.StatusCode set_control(request: phoenix6.controls.motion_magic_expo_torque_current_foc.MotionMagicExpoTorqueCurrentFOC) -> phoenix6.status_code.StatusCode set_control(request: phoenix6.controls.dynamic_motion_magic_duty_cycle.DynamicMotionMagicDutyCycle) -> phoenix6.status_code.StatusCode set_control(request: phoenix6.controls.dynamic_motion_magic_voltage.DynamicMotionMagicVoltage) -> phoenix6.status_code.StatusCode set_control(request: phoenix6.controls.dynamic_motion_magic_torque_current_foc.DynamicMotionMagicTorqueCurrentFOC) -> phoenix6.status_code.StatusCode set_control(request: phoenix6.controls.dynamic_motion_magic_expo_duty_cycle.DynamicMotionMagicExpoDutyCycle) -> phoenix6.status_code.StatusCode set_control(request: phoenix6.controls.dynamic_motion_magic_expo_voltage.DynamicMotionMagicExpoVoltage) -> phoenix6.status_code.StatusCode set_control(request: phoenix6.controls.dynamic_motion_magic_expo_torque_current_foc.DynamicMotionMagicExpoTorqueCurrentFOC) -> phoenix6.status_code.StatusCode set_control(request: phoenix6.controls.compound.diff_duty_cycle_out_position.Diff_DutyCycleOut_Position) -> phoenix6.status_code.StatusCode set_control(request: phoenix6.controls.compound.diff_position_duty_cycle_position.Diff_PositionDutyCycle_Position) -> phoenix6.status_code.StatusCode set_control(request: phoenix6.controls.compound.diff_velocity_duty_cycle_position.Diff_VelocityDutyCycle_Position) -> phoenix6.status_code.StatusCode set_control(request: phoenix6.controls.compound.diff_motion_magic_duty_cycle_position.Diff_MotionMagicDutyCycle_Position) -> phoenix6.status_code.StatusCode set_control(request: phoenix6.controls.compound.diff_motion_magic_expo_duty_cycle_position.Diff_MotionMagicExpoDutyCycle_Position) -> phoenix6.status_code.StatusCode set_control(request: phoenix6.controls.compound.diff_motion_magic_velocity_duty_cycle_position.Diff_MotionMagicVelocityDutyCycle_Position) -> phoenix6.status_code.StatusCode set_control(request: phoenix6.controls.compound.diff_duty_cycle_out_velocity.Diff_DutyCycleOut_Velocity) -> phoenix6.status_code.StatusCode set_control(request: phoenix6.controls.compound.diff_position_duty_cycle_velocity.Diff_PositionDutyCycle_Velocity) -> phoenix6.status_code.StatusCode set_control(request: phoenix6.controls.compound.diff_velocity_duty_cycle_velocity.Diff_VelocityDutyCycle_Velocity) -> phoenix6.status_code.StatusCode set_control(request: phoenix6.controls.compound.diff_motion_magic_duty_cycle_velocity.Diff_MotionMagicDutyCycle_Velocity) -> phoenix6.status_code.StatusCode set_control(request: phoenix6.controls.compound.diff_motion_magic_expo_duty_cycle_velocity.Diff_MotionMagicExpoDutyCycle_Velocity) -> phoenix6.status_code.StatusCode set_control(request: phoenix6.controls.compound.diff_motion_magic_velocity_duty_cycle_velocity.Diff_MotionMagicVelocityDutyCycle_Velocity) -> phoenix6.status_code.StatusCode set_control(request: phoenix6.controls.compound.diff_duty_cycle_out_open.Diff_DutyCycleOut_Open) -> phoenix6.status_code.StatusCode set_control(request: phoenix6.controls.compound.diff_position_duty_cycle_open.Diff_PositionDutyCycle_Open) -> phoenix6.status_code.StatusCode set_control(request: phoenix6.controls.compound.diff_velocity_duty_cycle_open.Diff_VelocityDutyCycle_Open) -> phoenix6.status_code.StatusCode set_control(request: phoenix6.controls.compound.diff_motion_magic_duty_cycle_open.Diff_MotionMagicDutyCycle_Open) -> phoenix6.status_code.StatusCode set_control(request: phoenix6.controls.compound.diff_motion_magic_expo_duty_cycle_open.Diff_MotionMagicExpoDutyCycle_Open) -> phoenix6.status_code.StatusCode set_control(request: phoenix6.controls.compound.diff_motion_magic_velocity_duty_cycle_open.Diff_MotionMagicVelocityDutyCycle_Open) -> phoenix6.status_code.StatusCode set_control(request: phoenix6.controls.compound.diff_voltage_out_position.Diff_VoltageOut_Position) -> phoenix6.status_code.StatusCode set_control(request: phoenix6.controls.compound.diff_position_voltage_position.Diff_PositionVoltage_Position) -> phoenix6.status_code.StatusCode set_control(request: phoenix6.controls.compound.diff_velocity_voltage_position.Diff_VelocityVoltage_Position) -> phoenix6.status_code.StatusCode set_control(request: phoenix6.controls.compound.diff_motion_magic_voltage_position.Diff_MotionMagicVoltage_Position) -> phoenix6.status_code.StatusCode set_control(request: phoenix6.controls.compound.diff_motion_magic_expo_voltage_position.Diff_MotionMagicExpoVoltage_Position) -> phoenix6.status_code.StatusCode set_control(request: phoenix6.controls.compound.diff_motion_magic_velocity_voltage_position.Diff_MotionMagicVelocityVoltage_Position) -> phoenix6.status_code.StatusCode set_control(request: phoenix6.controls.compound.diff_voltage_out_velocity.Diff_VoltageOut_Velocity) -> phoenix6.status_code.StatusCode set_control(request: phoenix6.controls.compound.diff_position_voltage_velocity.Diff_PositionVoltage_Velocity) -> phoenix6.status_code.StatusCode set_control(request: phoenix6.controls.compound.diff_velocity_voltage_velocity.Diff_VelocityVoltage_Velocity) -> phoenix6.status_code.StatusCode set_control(request: phoenix6.controls.compound.diff_motion_magic_voltage_velocity.Diff_MotionMagicVoltage_Velocity) -> phoenix6.status_code.StatusCode set_control(request: phoenix6.controls.compound.diff_motion_magic_expo_voltage_velocity.Diff_MotionMagicExpoVoltage_Velocity) -> phoenix6.status_code.StatusCode set_control(request: phoenix6.controls.compound.diff_motion_magic_velocity_voltage_velocity.Diff_MotionMagicVelocityVoltage_Velocity) -> phoenix6.status_code.StatusCode set_control(request: phoenix6.controls.compound.diff_voltage_out_open.Diff_VoltageOut_Open) -> phoenix6.status_code.StatusCode set_control(request: phoenix6.controls.compound.diff_position_voltage_open.Diff_PositionVoltage_Open) -> phoenix6.status_code.StatusCode set_control(request: phoenix6.controls.compound.diff_velocity_voltage_open.Diff_VelocityVoltage_Open) -> phoenix6.status_code.StatusCode set_control(request: phoenix6.controls.compound.diff_motion_magic_voltage_open.Diff_MotionMagicVoltage_Open) -> phoenix6.status_code.StatusCode set_control(request: phoenix6.controls.compound.diff_motion_magic_expo_voltage_open.Diff_MotionMagicExpoVoltage_Open) -> phoenix6.status_code.StatusCode set_control(request: phoenix6.controls.compound.diff_motion_magic_velocity_voltage_open.Diff_MotionMagicVelocityVoltage_Open) -> phoenix6.status_code.StatusCode set_control(request: phoenix6.controls.compound.diff_torque_current_foc_position.Diff_TorqueCurrentFOC_Position) -> phoenix6.status_code.StatusCode set_control(request: phoenix6.controls.compound.diff_position_torque_current_foc_position.Diff_PositionTorqueCurrentFOC_Position) -> phoenix6.status_code.StatusCode set_control(request: phoenix6.controls.compound.diff_velocity_torque_current_foc_position.Diff_VelocityTorqueCurrentFOC_Position) -> phoenix6.status_code.StatusCode set_control(request: phoenix6.controls.compound.diff_motion_magic_torque_current_foc_position.Diff_MotionMagicTorqueCurrentFOC_Position) -> phoenix6.status_code.StatusCode set_control(request: phoenix6.controls.compound.diff_motion_magic_expo_torque_current_foc_position.Diff_MotionMagicExpoTorqueCurrentFOC_Position) -> phoenix6.status_code.StatusCode set_control(request: phoenix6.controls.compound.diff_motion_magic_velocity_torque_current_foc_position.Diff_MotionMagicVelocityTorqueCurrentFOC_Position) -> phoenix6.status_code.StatusCode set_control(request: phoenix6.controls.compound.diff_torque_current_foc_velocity.Diff_TorqueCurrentFOC_Velocity) -> phoenix6.status_code.StatusCode set_control(request: phoenix6.controls.compound.diff_position_torque_current_foc_velocity.Diff_PositionTorqueCurrentFOC_Velocity) -> phoenix6.status_code.StatusCode set_control(request: phoenix6.controls.compound.diff_velocity_torque_current_foc_velocity.Diff_VelocityTorqueCurrentFOC_Velocity) -> phoenix6.status_code.StatusCode set_control(request: phoenix6.controls.compound.diff_motion_magic_torque_current_foc_velocity.Diff_MotionMagicTorqueCurrentFOC_Velocity) -> phoenix6.status_code.StatusCode set_control(request: phoenix6.controls.compound.diff_motion_magic_expo_torque_current_foc_velocity.Diff_MotionMagicExpoTorqueCurrentFOC_Velocity) -> phoenix6.status_code.StatusCode set_control(request: phoenix6.controls.compound.diff_motion_magic_velocity_torque_current_foc_velocity.Diff_MotionMagicVelocityTorqueCurrentFOC_Velocity) -> phoenix6.status_code.StatusCode set_control(request: phoenix6.controls.compound.diff_torque_current_foc_open.Diff_TorqueCurrentFOC_Open) -> phoenix6.status_code.StatusCode set_control(request: phoenix6.controls.compound.diff_position_torque_current_foc_open.Diff_PositionTorqueCurrentFOC_Open) -> phoenix6.status_code.StatusCode set_control(request: phoenix6.controls.compound.diff_velocity_torque_current_foc_open.Diff_VelocityTorqueCurrentFOC_Open) -> phoenix6.status_code.StatusCode set_control(request: phoenix6.controls.compound.diff_motion_magic_torque_current_foc_open.Diff_MotionMagicTorqueCurrentFOC_Open) -> phoenix6.status_code.StatusCode set_control(request: phoenix6.controls.compound.diff_motion_magic_expo_torque_current_foc_open.Diff_MotionMagicExpoTorqueCurrentFOC_Open) -> phoenix6.status_code.StatusCode set_control(request: phoenix6.controls.compound.diff_motion_magic_velocity_torque_current_foc_open.Diff_MotionMagicVelocityTorqueCurrentFOC_Open) -> phoenix6.status_code.StatusCode set_control(request: phoenix6.controls.empty_control.EmptyControl) -> phoenix6.status_code.StatusCode set_control(request: phoenix6.hardware.parent_device.SupportsSendRequest) -> phoenix6.status_code.StatusCode .. py:method:: set_position(new_value: phoenix6.units.rotation, timeout_seconds: phoenix6.units.second = 0.1) -> phoenix6.status_code.StatusCode Sets the mechanism position of the device in mechanism rotations. :param new_value: Value to set to. Units are in rotations. :type new_value: rotation :param timeout_seconds: Maximum time to wait up to in seconds. :type timeout_seconds: second :returns: StatusCode of the set command :rtype: StatusCode .. py:method:: clear_sticky_faults(timeout_seconds: phoenix6.units.second = 0.1) -> phoenix6.status_code.StatusCode Clear the sticky faults in the device. This typically has no impact on the device functionality. Instead, it just clears telemetry faults that are accessible via API and Tuner Self-Test. :param timeout_seconds: Maximum time to wait up to in seconds. :type timeout_seconds: second :returns: StatusCode of the set command :rtype: StatusCode .. py:method:: clear_sticky_fault_hardware(timeout_seconds: phoenix6.units.second = 0.1) -> phoenix6.status_code.StatusCode Clear sticky fault: Hardware fault occurred :param timeout_seconds: Maximum time to wait up to in seconds. :type timeout_seconds: second :returns: StatusCode of the set command :rtype: StatusCode .. py:method:: clear_sticky_fault_proc_temp(timeout_seconds: phoenix6.units.second = 0.1) -> phoenix6.status_code.StatusCode Clear sticky fault: Processor temperature exceeded limit :param timeout_seconds: Maximum time to wait up to in seconds. :type timeout_seconds: second :returns: StatusCode of the set command :rtype: StatusCode .. py:method:: clear_sticky_fault_device_temp(timeout_seconds: phoenix6.units.second = 0.1) -> phoenix6.status_code.StatusCode Clear sticky fault: Device temperature exceeded limit :param timeout_seconds: Maximum time to wait up to in seconds. :type timeout_seconds: second :returns: StatusCode of the set command :rtype: StatusCode .. py:method:: clear_sticky_fault_undervoltage(timeout_seconds: phoenix6.units.second = 0.1) -> phoenix6.status_code.StatusCode Clear sticky fault: Device supply voltage dropped to near brownout levels :param timeout_seconds: Maximum time to wait up to in seconds. :type timeout_seconds: second :returns: StatusCode of the set command :rtype: StatusCode .. py:method:: clear_sticky_fault_boot_during_enable(timeout_seconds: phoenix6.units.second = 0.1) -> phoenix6.status_code.StatusCode Clear sticky fault: Device boot while detecting the enable signal :param timeout_seconds: Maximum time to wait up to in seconds. :type timeout_seconds: second :returns: StatusCode of the set command :rtype: StatusCode .. py:method:: clear_sticky_fault_unlicensed_feature_in_use(timeout_seconds: phoenix6.units.second = 0.1) -> phoenix6.status_code.StatusCode Clear sticky fault: An unlicensed feature is in use, device may not behave as expected. :param timeout_seconds: Maximum time to wait up to in seconds. :type timeout_seconds: second :returns: StatusCode of the set command :rtype: StatusCode .. py:method:: clear_sticky_fault_bridge_brownout(timeout_seconds: phoenix6.units.second = 0.1) -> phoenix6.status_code.StatusCode Clear sticky fault: Bridge was disabled most likely due to supply voltage dropping too low. :param timeout_seconds: Maximum time to wait up to in seconds. :type timeout_seconds: second :returns: StatusCode of the set command :rtype: StatusCode .. py:method:: clear_sticky_fault_remote_sensor_reset(timeout_seconds: phoenix6.units.second = 0.1) -> phoenix6.status_code.StatusCode Clear sticky fault: The remote sensor has reset. :param timeout_seconds: Maximum time to wait up to in seconds. :type timeout_seconds: second :returns: StatusCode of the set command :rtype: StatusCode .. py:method:: clear_sticky_fault_missing_differential_fx(timeout_seconds: phoenix6.units.second = 0.1) -> phoenix6.status_code.StatusCode Clear sticky fault: The remote Talon used for differential control is not present on CAN Bus. :param timeout_seconds: Maximum time to wait up to in seconds. :type timeout_seconds: second :returns: StatusCode of the set command :rtype: StatusCode .. py:method:: clear_sticky_fault_remote_sensor_pos_overflow(timeout_seconds: phoenix6.units.second = 0.1) -> phoenix6.status_code.StatusCode Clear sticky fault: The remote sensor position has overflowed. Because of the nature of remote sensors, it is possible for the remote sensor position to overflow beyond what is supported by the status signal frame. However, this is rare and cannot occur over the course of an FRC match under normal use. :param timeout_seconds: Maximum time to wait up to in seconds. :type timeout_seconds: second :returns: StatusCode of the set command :rtype: StatusCode .. py:method:: clear_sticky_fault_over_supply_v(timeout_seconds: phoenix6.units.second = 0.1) -> phoenix6.status_code.StatusCode Clear sticky fault: Supply Voltage has exceeded the maximum voltage rating of device. :param timeout_seconds: Maximum time to wait up to in seconds. :type timeout_seconds: second :returns: StatusCode of the set command :rtype: StatusCode .. py:method:: clear_sticky_fault_unstable_supply_v(timeout_seconds: phoenix6.units.second = 0.1) -> phoenix6.status_code.StatusCode Clear sticky fault: Supply Voltage is unstable. Ensure you are using a battery and current limited power supply. :param timeout_seconds: Maximum time to wait up to in seconds. :type timeout_seconds: second :returns: StatusCode of the set command :rtype: StatusCode .. py:method:: clear_sticky_fault_reverse_hard_limit(timeout_seconds: phoenix6.units.second = 0.1) -> phoenix6.status_code.StatusCode Clear sticky fault: Reverse limit switch has been asserted. Output is set to neutral. :param timeout_seconds: Maximum time to wait up to in seconds. :type timeout_seconds: second :returns: StatusCode of the set command :rtype: StatusCode .. py:method:: clear_sticky_fault_forward_hard_limit(timeout_seconds: phoenix6.units.second = 0.1) -> phoenix6.status_code.StatusCode Clear sticky fault: Forward limit switch has been asserted. Output is set to neutral. :param timeout_seconds: Maximum time to wait up to in seconds. :type timeout_seconds: second :returns: StatusCode of the set command :rtype: StatusCode .. py:method:: clear_sticky_fault_reverse_soft_limit(timeout_seconds: phoenix6.units.second = 0.1) -> phoenix6.status_code.StatusCode Clear sticky fault: Reverse soft limit has been asserted. Output is set to neutral. :param timeout_seconds: Maximum time to wait up to in seconds. :type timeout_seconds: second :returns: StatusCode of the set command :rtype: StatusCode .. py:method:: clear_sticky_fault_forward_soft_limit(timeout_seconds: phoenix6.units.second = 0.1) -> phoenix6.status_code.StatusCode Clear sticky fault: Forward soft limit has been asserted. Output is set to neutral. :param timeout_seconds: Maximum time to wait up to in seconds. :type timeout_seconds: second :returns: StatusCode of the set command :rtype: StatusCode .. py:method:: clear_sticky_fault_missing_soft_limit_remote(timeout_seconds: phoenix6.units.second = 0.1) -> phoenix6.status_code.StatusCode Clear sticky fault: The remote soft limit device is not present on CAN Bus. :param timeout_seconds: Maximum time to wait up to in seconds. :type timeout_seconds: second :returns: StatusCode of the set command :rtype: StatusCode .. py:method:: clear_sticky_fault_missing_hard_limit_remote(timeout_seconds: phoenix6.units.second = 0.1) -> phoenix6.status_code.StatusCode Clear sticky fault: The remote limit switch device is not present on CAN Bus. :param timeout_seconds: Maximum time to wait up to in seconds. :type timeout_seconds: second :returns: StatusCode of the set command :rtype: StatusCode .. py:method:: clear_sticky_fault_remote_sensor_data_invalid(timeout_seconds: phoenix6.units.second = 0.1) -> phoenix6.status_code.StatusCode Clear sticky fault: The remote sensor's data is no longer trusted. This can happen if the remote sensor disappears from the CAN bus or if the remote sensor indicates its data is no longer valid, such as when a CANcoder's magnet strength falls into the "red" range. :param timeout_seconds: Maximum time to wait up to in seconds. :type timeout_seconds: second :returns: StatusCode of the set command :rtype: StatusCode .. py:method:: clear_sticky_fault_fused_sensor_out_of_sync(timeout_seconds: phoenix6.units.second = 0.1) -> phoenix6.status_code.StatusCode Clear sticky fault: The remote sensor used for fusion has fallen out of sync to the local sensor. A re-synchronization has occurred, which may cause a discontinuity. This typically happens if there is significant slop in the mechanism, or if the RotorToSensorRatio configuration parameter is incorrect. :param timeout_seconds: Maximum time to wait up to in seconds. :type timeout_seconds: second :returns: StatusCode of the set command :rtype: StatusCode .. py:method:: clear_sticky_fault_stator_curr_limit(timeout_seconds: phoenix6.units.second = 0.1) -> phoenix6.status_code.StatusCode Clear sticky fault: Stator current limit occured. :param timeout_seconds: Maximum time to wait up to in seconds. :type timeout_seconds: second :returns: StatusCode of the set command :rtype: StatusCode .. py:method:: clear_sticky_fault_supply_curr_limit(timeout_seconds: phoenix6.units.second = 0.1) -> phoenix6.status_code.StatusCode Clear sticky fault: Supply current limit occured. :param timeout_seconds: Maximum time to wait up to in seconds. :type timeout_seconds: second :returns: StatusCode of the set command :rtype: StatusCode .. py:method:: clear_sticky_fault_using_fused_cancoder_while_unlicensed(timeout_seconds: phoenix6.units.second = 0.1) -> phoenix6.status_code.StatusCode Clear sticky fault: Using Fused CANcoder feature while unlicensed. Device has fallen back to remote CANcoder. :param timeout_seconds: Maximum time to wait up to in seconds. :type timeout_seconds: second :returns: StatusCode of the set command :rtype: StatusCode .. py:method:: clear_sticky_fault_static_brake_disabled(timeout_seconds: phoenix6.units.second = 0.1) -> phoenix6.status_code.StatusCode Clear sticky fault: Static brake was momentarily disabled due to excessive braking current while disabled. :param timeout_seconds: Maximum time to wait up to in seconds. :type timeout_seconds: second :returns: StatusCode of the set command :rtype: StatusCode .. py:method:: clear_sticky_fault_rotor_fault1(timeout_seconds: phoenix6.units.second = 0.1) -> phoenix6.status_code.StatusCode Clear sticky fault: Trips if a major mechanical or ESD event caused a brief loss of position data triggering a recovery while not in motion. If the event occurs often, inspect for excess axial force or sources of ESD at the rotor. :param timeout_seconds: Maximum time to wait up to in seconds. :type timeout_seconds: second :returns: StatusCode of the set command :rtype: StatusCode .. py:method:: clear_sticky_fault_rotor_fault2(timeout_seconds: phoenix6.units.second = 0.1) -> phoenix6.status_code.StatusCode Clear sticky fault: Trips if a major mechanical or ESD event caused a brief loss of position data triggering a recovery while in motion. If the event occurs often, inspect for excess axial force or sources of ESD at the rotor. :param timeout_seconds: Maximum time to wait up to in seconds. :type timeout_seconds: second :returns: StatusCode of the set command :rtype: StatusCode .. py:class:: CoreCANcoder(device_id: int, canbus: phoenix6.canbus.CANBus | str = CANBus()) Bases: :py:obj:`phoenix6.hardware.parent_device.ParentDevice` Class for CANcoder, a CAN based magnetic encoder that provides absolute and relative position along with filtered velocity. Constructs a new CANcoder object. .. versionchanged:: 2026 Constructing devices with a CAN bus string is deprecated for removal in the 2027 season. Construct devices using a CANBus instance instead. :param device_id: ID of the device, as configured in Phoenix Tuner :type device_id: int :param canbus: 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 :type canbus: CANBus | str, optional .. py:property:: sim_state :type: phoenix6.sim.cancoder_sim_state.CANcoderSimState Get the simulation state for this device. This function reuses an allocated simulation state object, so it is safe to call this function multiple times in a robot loop. :returns: Simulation state :rtype: CANcoderSimState .. py:attribute:: Configuration The configuration class for this device. .. py:attribute:: configurator .. py:method:: none() :classmethod: Constructs a stubbed-out CoreCANcoder, where all status signals, controls, configs, etc. perform no action and immediately return OK. This can be used to silence error messages for devices that have been completely removed from the robot. :returns: Stubbed-out CoreCANcoder :rtype: CoreCANcoder .. py:method:: get_version_major(refresh: bool = True) -> phoenix6.status_signal.StatusSignal[int] App Major Version number. - Minimum Value: 0 - Maximum Value: 255 - Default Value: 0 - Units: Default Rates: - CAN: 4.0 Hz This refreshes and returns a cached StatusSignal object. :param refresh: Whether to refresh the StatusSignal before returning it; defaults to true :type refresh: bool :returns: VersionMajor Status Signal Object :rtype: StatusSignal[int] .. py:method:: get_version_minor(refresh: bool = True) -> phoenix6.status_signal.StatusSignal[int] App Minor Version number. - Minimum Value: 0 - Maximum Value: 255 - Default Value: 0 - Units: Default Rates: - CAN: 4.0 Hz This refreshes and returns a cached StatusSignal object. :param refresh: Whether to refresh the StatusSignal before returning it; defaults to true :type refresh: bool :returns: VersionMinor Status Signal Object :rtype: StatusSignal[int] .. py:method:: get_version_bugfix(refresh: bool = True) -> phoenix6.status_signal.StatusSignal[int] App Bugfix Version number. - Minimum Value: 0 - Maximum Value: 255 - Default Value: 0 - Units: Default Rates: - CAN: 4.0 Hz This refreshes and returns a cached StatusSignal object. :param refresh: Whether to refresh the StatusSignal before returning it; defaults to true :type refresh: bool :returns: VersionBugfix Status Signal Object :rtype: StatusSignal[int] .. py:method:: get_version_build(refresh: bool = True) -> phoenix6.status_signal.StatusSignal[int] App Build Version number. - Minimum Value: 0 - Maximum Value: 255 - Default Value: 0 - Units: Default Rates: - CAN: 4.0 Hz This refreshes and returns a cached StatusSignal object. :param refresh: Whether to refresh the StatusSignal before returning it; defaults to true :type refresh: bool :returns: VersionBuild Status Signal Object :rtype: StatusSignal[int] .. py:method:: get_version(refresh: bool = True) -> phoenix6.status_signal.StatusSignal[int] Full Version of firmware in device. The format is a four byte value. - Minimum Value: 0 - Maximum Value: 4294967295 - Default Value: 0 - Units: Default Rates: - CAN: 4.0 Hz This refreshes and returns a cached StatusSignal object. :param refresh: Whether to refresh the StatusSignal before returning it; defaults to true :type refresh: bool :returns: Version Status Signal Object :rtype: StatusSignal[int] .. py:method:: get_fault_field(refresh: bool = True) -> phoenix6.status_signal.StatusSignal[int] Integer representing all fault flags reported by the device. These are device specific and are not used directly in typical applications. Use the signal specific GetFault_*() methods instead. - Minimum Value: 0 - Maximum Value: 4294967295 - Default Value: 0 - Units: Default Rates: - CAN: 4.0 Hz This refreshes and returns a cached StatusSignal object. :param refresh: Whether to refresh the StatusSignal before returning it; defaults to true :type refresh: bool :returns: FaultField Status Signal Object :rtype: StatusSignal[int] .. py:method:: get_sticky_fault_field(refresh: bool = True) -> phoenix6.status_signal.StatusSignal[int] Integer representing all (persistent) sticky fault flags reported by the device. These are device specific and are not used directly in typical applications. Use the signal specific GetStickyFault_*() methods instead. - Minimum Value: 0 - Maximum Value: 4294967295 - Default Value: 0 - Units: Default Rates: - CAN: 4.0 Hz This refreshes and returns a cached StatusSignal object. :param refresh: Whether to refresh the StatusSignal before returning it; defaults to true :type refresh: bool :returns: StickyFaultField Status Signal Object :rtype: StatusSignal[int] .. py:method:: get_velocity(refresh: bool = True) -> phoenix6.status_signal.StatusSignal[phoenix6.units.rotations_per_second] Velocity of the device. - Minimum Value: -512.0 - Maximum Value: 511.998046875 - Default Value: 0 - Units: rotations per second Default Rates: - CAN 2.0: 100.0 Hz - CAN FD: 100.0 Hz (TimeSynced with Pro) This refreshes and returns a cached StatusSignal object. :param refresh: Whether to refresh the StatusSignal before returning it; defaults to true :type refresh: bool :returns: Velocity Status Signal Object :rtype: StatusSignal[rotations_per_second] .. py:method:: get_position(refresh: bool = True) -> phoenix6.status_signal.StatusSignal[phoenix6.units.rotation] Position of the device. This is initialized to the absolute position on boot. - Minimum Value: -16384.0 - Maximum Value: 16383.999755859375 - Default Value: 0 - Units: rotations Default Rates: - CAN 2.0: 100.0 Hz - CAN FD: 100.0 Hz (TimeSynced with Pro) This refreshes and returns a cached StatusSignal object. :param refresh: Whether to refresh the StatusSignal before returning it; defaults to true :type refresh: bool :returns: Position Status Signal Object :rtype: StatusSignal[rotation] .. py:method:: get_absolute_position(refresh: bool = True) -> phoenix6.status_signal.StatusSignal[phoenix6.units.rotation] Absolute Position of the device. The possible range is documented below; however, the exact expected range is determined by the AbsoluteSensorDiscontinuityPoint. This position is affected by the MagnetSensor configs and the user-set position via setPosition(). - Minimum Value: -1.0 - Maximum Value: 0.999755859375 - Default Value: 0 - Units: rotations Default Rates: - CAN 2.0: 100.0 Hz - CAN FD: 100.0 Hz (TimeSynced with Pro) This refreshes and returns a cached StatusSignal object. :param refresh: Whether to refresh the StatusSignal before returning it; defaults to true :type refresh: bool :returns: AbsolutePosition Status Signal Object :rtype: StatusSignal[rotation] .. py:method:: get_unfiltered_velocity(refresh: bool = True) -> phoenix6.status_signal.StatusSignal[phoenix6.units.rotations_per_second] The unfiltered velocity reported by CANcoder. This is the unfiltered velocity reported by CANcoder. This signal does not use the fusing algorithm. - Minimum Value: -8000.0 - Maximum Value: 7999.755859375 - Default Value: 0 - Units: rotations per second Default Rates: - CAN 2.0: 4.0 Hz - CAN FD: 100.0 Hz (TimeSynced with Pro) This refreshes and returns a cached StatusSignal object. :param refresh: Whether to refresh the StatusSignal before returning it; defaults to true :type refresh: bool :returns: UnfilteredVelocity Status Signal Object :rtype: StatusSignal[rotations_per_second] .. py:method:: get_position_since_boot(refresh: bool = True) -> phoenix6.status_signal.StatusSignal[phoenix6.units.rotation] The relative position reported by the CANcoder since boot. This is the total displacement reported by CANcoder since power up. This signal is relative and is not influenced by the fusing algorithm. - Minimum Value: -16384.0 - Maximum Value: 16383.999755859375 - Default Value: 0 - Units: rotations Default Rates: - CAN 2.0: 4.0 Hz - CAN FD: 100.0 Hz (TimeSynced with Pro) This refreshes and returns a cached StatusSignal object. :param refresh: Whether to refresh the StatusSignal before returning it; defaults to true :type refresh: bool :returns: PositionSinceBoot Status Signal Object :rtype: StatusSignal[rotation] .. py:method:: get_supply_voltage(refresh: bool = True) -> phoenix6.status_signal.StatusSignal[phoenix6.units.volt] Measured supply voltage to the CANcoder. - Minimum Value: 4 - Maximum Value: 16.75 - Default Value: 4 - Units: V Default Rates: - CAN 2.0: 4.0 Hz - CAN FD: 100.0 Hz (TimeSynced with Pro) This refreshes and returns a cached StatusSignal object. :param refresh: Whether to refresh the StatusSignal before returning it; defaults to true :type refresh: bool :returns: SupplyVoltage Status Signal Object :rtype: StatusSignal[volt] .. py:method:: get_magnet_health(refresh: bool = True) -> phoenix6.status_signal.StatusSignal[phoenix6.signals.spn_enums.MagnetHealthValue] Magnet health as measured by CANcoder. Red indicates too close or too far, Orange is adequate but with reduced accuracy, green is ideal. Invalid means the accuracy cannot be determined. Default Rates: - CAN 2.0: 4.0 Hz - CAN FD: 100.0 Hz (TimeSynced with Pro) This refreshes and returns a cached StatusSignal object. :param refresh: Whether to refresh the StatusSignal before returning it; defaults to true :type refresh: bool :returns: MagnetHealth Status Signal Object :rtype: StatusSignal[MagnetHealthValue] .. py:method:: get_is_pro_licensed(refresh: bool = True) -> phoenix6.status_signal.StatusSignal[bool] Whether the device is Phoenix Pro licensed. - Default Value: False Default Rates: - CAN: 4.0 Hz This refreshes and returns a cached StatusSignal object. :param refresh: Whether to refresh the StatusSignal before returning it; defaults to true :type refresh: bool :returns: IsProLicensed Status Signal Object :rtype: StatusSignal[bool] .. py:method:: get_fault_hardware(refresh: bool = True) -> phoenix6.status_signal.StatusSignal[bool] Hardware fault occurred - Default Value: False Default Rates: - CAN: 4.0 Hz This refreshes and returns a cached StatusSignal object. :param refresh: Whether to refresh the StatusSignal before returning it; defaults to true :type refresh: bool :returns: Fault_Hardware Status Signal Object :rtype: StatusSignal[bool] .. py:method:: get_sticky_fault_hardware(refresh: bool = True) -> phoenix6.status_signal.StatusSignal[bool] Hardware fault occurred - Default Value: False Default Rates: - CAN: 4.0 Hz This refreshes and returns a cached StatusSignal object. :param refresh: Whether to refresh the StatusSignal before returning it; defaults to true :type refresh: bool :returns: StickyFault_Hardware Status Signal Object :rtype: StatusSignal[bool] .. py:method:: get_fault_undervoltage(refresh: bool = True) -> phoenix6.status_signal.StatusSignal[bool] Device supply voltage dropped to near brownout levels - Default Value: False Default Rates: - CAN: 4.0 Hz This refreshes and returns a cached StatusSignal object. :param refresh: Whether to refresh the StatusSignal before returning it; defaults to true :type refresh: bool :returns: Fault_Undervoltage Status Signal Object :rtype: StatusSignal[bool] .. py:method:: get_sticky_fault_undervoltage(refresh: bool = True) -> phoenix6.status_signal.StatusSignal[bool] Device supply voltage dropped to near brownout levels - Default Value: False Default Rates: - CAN: 4.0 Hz This refreshes and returns a cached StatusSignal object. :param refresh: Whether to refresh the StatusSignal before returning it; defaults to true :type refresh: bool :returns: StickyFault_Undervoltage Status Signal Object :rtype: StatusSignal[bool] .. py:method:: get_fault_boot_during_enable(refresh: bool = True) -> phoenix6.status_signal.StatusSignal[bool] Device boot while detecting the enable signal - Default Value: False Default Rates: - CAN: 4.0 Hz This refreshes and returns a cached StatusSignal object. :param refresh: Whether to refresh the StatusSignal before returning it; defaults to true :type refresh: bool :returns: Fault_BootDuringEnable Status Signal Object :rtype: StatusSignal[bool] .. py:method:: get_sticky_fault_boot_during_enable(refresh: bool = True) -> phoenix6.status_signal.StatusSignal[bool] Device boot while detecting the enable signal - Default Value: False Default Rates: - CAN: 4.0 Hz This refreshes and returns a cached StatusSignal object. :param refresh: Whether to refresh the StatusSignal before returning it; defaults to true :type refresh: bool :returns: StickyFault_BootDuringEnable Status Signal Object :rtype: StatusSignal[bool] .. py:method:: get_fault_unlicensed_feature_in_use(refresh: bool = True) -> phoenix6.status_signal.StatusSignal[bool] An unlicensed feature is in use, device may not behave as expected. - Default Value: False Default Rates: - CAN: 4.0 Hz This refreshes and returns a cached StatusSignal object. :param refresh: Whether to refresh the StatusSignal before returning it; defaults to true :type refresh: bool :returns: Fault_UnlicensedFeatureInUse Status Signal Object :rtype: StatusSignal[bool] .. py:method:: get_sticky_fault_unlicensed_feature_in_use(refresh: bool = True) -> phoenix6.status_signal.StatusSignal[bool] An unlicensed feature is in use, device may not behave as expected. - Default Value: False Default Rates: - CAN: 4.0 Hz This refreshes and returns a cached StatusSignal object. :param refresh: Whether to refresh the StatusSignal before returning it; defaults to true :type refresh: bool :returns: StickyFault_UnlicensedFeatureInUse Status Signal Object :rtype: StatusSignal[bool] .. py:method:: get_fault_bad_magnet(refresh: bool = True) -> phoenix6.status_signal.StatusSignal[bool] The magnet distance is not correct or magnet is missing - Default Value: False Default Rates: - CAN: 4.0 Hz This refreshes and returns a cached StatusSignal object. :param refresh: Whether to refresh the StatusSignal before returning it; defaults to true :type refresh: bool :returns: Fault_BadMagnet Status Signal Object :rtype: StatusSignal[bool] .. py:method:: get_sticky_fault_bad_magnet(refresh: bool = True) -> phoenix6.status_signal.StatusSignal[bool] The magnet distance is not correct or magnet is missing - Default Value: False Default Rates: - CAN: 4.0 Hz This refreshes and returns a cached StatusSignal object. :param refresh: Whether to refresh the StatusSignal before returning it; defaults to true :type refresh: bool :returns: StickyFault_BadMagnet Status Signal Object :rtype: StatusSignal[bool] .. py:method:: set_position(new_value: phoenix6.units.rotation, timeout_seconds: phoenix6.units.second = 0.1) -> phoenix6.status_code.StatusCode Sets the current position of the device. :param new_value: Value to set to. Units are in rotations. :type new_value: rotation :param timeout_seconds: Maximum time to wait up to in seconds. :type timeout_seconds: second :returns: StatusCode of the set command :rtype: StatusCode .. py:method:: clear_sticky_faults(timeout_seconds: phoenix6.units.second = 0.1) -> phoenix6.status_code.StatusCode Clear the sticky faults in the device. This typically has no impact on the device functionality. Instead, it just clears telemetry faults that are accessible via API and Tuner Self-Test. :param timeout_seconds: Maximum time to wait up to in seconds. :type timeout_seconds: second :returns: StatusCode of the set command :rtype: StatusCode .. py:method:: clear_sticky_fault_hardware(timeout_seconds: phoenix6.units.second = 0.1) -> phoenix6.status_code.StatusCode Clear sticky fault: Hardware fault occurred :param timeout_seconds: Maximum time to wait up to in seconds. :type timeout_seconds: second :returns: StatusCode of the set command :rtype: StatusCode .. py:method:: clear_sticky_fault_undervoltage(timeout_seconds: phoenix6.units.second = 0.1) -> phoenix6.status_code.StatusCode Clear sticky fault: Device supply voltage dropped to near brownout levels :param timeout_seconds: Maximum time to wait up to in seconds. :type timeout_seconds: second :returns: StatusCode of the set command :rtype: StatusCode .. py:method:: clear_sticky_fault_boot_during_enable(timeout_seconds: phoenix6.units.second = 0.1) -> phoenix6.status_code.StatusCode Clear sticky fault: Device boot while detecting the enable signal :param timeout_seconds: Maximum time to wait up to in seconds. :type timeout_seconds: second :returns: StatusCode of the set command :rtype: StatusCode .. py:method:: clear_sticky_fault_unlicensed_feature_in_use(timeout_seconds: phoenix6.units.second = 0.1) -> phoenix6.status_code.StatusCode Clear sticky fault: An unlicensed feature is in use, device may not behave as expected. :param timeout_seconds: Maximum time to wait up to in seconds. :type timeout_seconds: second :returns: StatusCode of the set command :rtype: StatusCode .. py:method:: clear_sticky_fault_bad_magnet(timeout_seconds: phoenix6.units.second = 0.1) -> phoenix6.status_code.StatusCode Clear sticky fault: The magnet distance is not correct or magnet is missing :param timeout_seconds: Maximum time to wait up to in seconds. :type timeout_seconds: second :returns: StatusCode of the set command :rtype: StatusCode .. py:class:: CorePigeon2(device_id: int, canbus: phoenix6.canbus.CANBus | str = CANBus()) Bases: :py:obj:`phoenix6.hardware.parent_device.ParentDevice` Class description for the Pigeon 2 IMU sensor that measures orientation. Constructs a new Pigeon 2 sensor object. .. versionchanged:: 2026 Constructing devices with a CAN bus string is deprecated for removal in the 2027 season. Construct devices using a CANBus instance instead. :param device_id: ID of the device, as configured in Phoenix Tuner :type device_id: int :param canbus: 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 :type canbus: CANBus | str, optional .. py:property:: sim_state :type: phoenix6.sim.pigeon2_sim_state.Pigeon2SimState Get the simulation state for this device. This function reuses an allocated simulation state object, so it is safe to call this function multiple times in a robot loop. :returns: Simulation state :rtype: Pigeon2SimState .. py:attribute:: Configuration The configuration class for this device. .. py:attribute:: configurator .. py:method:: none() :classmethod: Constructs a stubbed-out CorePigeon2, where all status signals, controls, configs, etc. perform no action and immediately return OK. This can be used to silence error messages for devices that have been completely removed from the robot. :returns: Stubbed-out CorePigeon2 :rtype: CorePigeon2 .. py:method:: get_version_major(refresh: bool = True) -> phoenix6.status_signal.StatusSignal[int] App Major Version number. - Minimum Value: 0 - Maximum Value: 255 - Default Value: 0 - Units: Default Rates: - CAN: 4.0 Hz This refreshes and returns a cached StatusSignal object. :param refresh: Whether to refresh the StatusSignal before returning it; defaults to true :type refresh: bool :returns: VersionMajor Status Signal Object :rtype: StatusSignal[int] .. py:method:: get_version_minor(refresh: bool = True) -> phoenix6.status_signal.StatusSignal[int] App Minor Version number. - Minimum Value: 0 - Maximum Value: 255 - Default Value: 0 - Units: Default Rates: - CAN: 4.0 Hz This refreshes and returns a cached StatusSignal object. :param refresh: Whether to refresh the StatusSignal before returning it; defaults to true :type refresh: bool :returns: VersionMinor Status Signal Object :rtype: StatusSignal[int] .. py:method:: get_version_bugfix(refresh: bool = True) -> phoenix6.status_signal.StatusSignal[int] App Bugfix Version number. - Minimum Value: 0 - Maximum Value: 255 - Default Value: 0 - Units: Default Rates: - CAN: 4.0 Hz This refreshes and returns a cached StatusSignal object. :param refresh: Whether to refresh the StatusSignal before returning it; defaults to true :type refresh: bool :returns: VersionBugfix Status Signal Object :rtype: StatusSignal[int] .. py:method:: get_version_build(refresh: bool = True) -> phoenix6.status_signal.StatusSignal[int] App Build Version number. - Minimum Value: 0 - Maximum Value: 255 - Default Value: 0 - Units: Default Rates: - CAN: 4.0 Hz This refreshes and returns a cached StatusSignal object. :param refresh: Whether to refresh the StatusSignal before returning it; defaults to true :type refresh: bool :returns: VersionBuild Status Signal Object :rtype: StatusSignal[int] .. py:method:: get_version(refresh: bool = True) -> phoenix6.status_signal.StatusSignal[int] Full Version of firmware in device. The format is a four byte value. - Minimum Value: 0 - Maximum Value: 4294967295 - Default Value: 0 - Units: Default Rates: - CAN: 4.0 Hz This refreshes and returns a cached StatusSignal object. :param refresh: Whether to refresh the StatusSignal before returning it; defaults to true :type refresh: bool :returns: Version Status Signal Object :rtype: StatusSignal[int] .. py:method:: get_fault_field(refresh: bool = True) -> phoenix6.status_signal.StatusSignal[int] Integer representing all fault flags reported by the device. These are device specific and are not used directly in typical applications. Use the signal specific GetFault_*() methods instead. - Minimum Value: 0 - Maximum Value: 4294967295 - Default Value: 0 - Units: Default Rates: - CAN: 4.0 Hz This refreshes and returns a cached StatusSignal object. :param refresh: Whether to refresh the StatusSignal before returning it; defaults to true :type refresh: bool :returns: FaultField Status Signal Object :rtype: StatusSignal[int] .. py:method:: get_sticky_fault_field(refresh: bool = True) -> phoenix6.status_signal.StatusSignal[int] Integer representing all (persistent) sticky fault flags reported by the device. These are device specific and are not used directly in typical applications. Use the signal specific GetStickyFault_*() methods instead. - Minimum Value: 0 - Maximum Value: 4294967295 - Default Value: 0 - Units: Default Rates: - CAN: 4.0 Hz This refreshes and returns a cached StatusSignal object. :param refresh: Whether to refresh the StatusSignal before returning it; defaults to true :type refresh: bool :returns: StickyFaultField Status Signal Object :rtype: StatusSignal[int] .. py:method:: get_yaw(refresh: bool = True) -> phoenix6.status_signal.StatusSignal[phoenix6.units.degree] Current reported yaw of the Pigeon2. - Minimum Value: -368640.0 - Maximum Value: 368639.99725341797 - Default Value: 0 - Units: deg Default Rates: - CAN 2.0: 100.0 Hz - CAN FD: 100.0 Hz (TimeSynced with Pro) This refreshes and returns a cached StatusSignal object. :param refresh: Whether to refresh the StatusSignal before returning it; defaults to true :type refresh: bool :returns: Yaw Status Signal Object :rtype: StatusSignal[degree] .. py:method:: get_pitch(refresh: bool = True) -> phoenix6.status_signal.StatusSignal[phoenix6.units.degree] Current reported pitch of the Pigeon2. - Minimum Value: -90.0 - Maximum Value: 89.9560546875 - Default Value: 0 - Units: deg Default Rates: - CAN 2.0: 100.0 Hz - CAN FD: 100.0 Hz (TimeSynced with Pro) This refreshes and returns a cached StatusSignal object. :param refresh: Whether to refresh the StatusSignal before returning it; defaults to true :type refresh: bool :returns: Pitch Status Signal Object :rtype: StatusSignal[degree] .. py:method:: get_roll(refresh: bool = True) -> phoenix6.status_signal.StatusSignal[phoenix6.units.degree] Current reported roll of the Pigeon2. - Minimum Value: -180.0 - Maximum Value: 179.9560546875 - Default Value: 0 - Units: deg Default Rates: - CAN 2.0: 100.0 Hz - CAN FD: 100.0 Hz (TimeSynced with Pro) This refreshes and returns a cached StatusSignal object. :param refresh: Whether to refresh the StatusSignal before returning it; defaults to true :type refresh: bool :returns: Roll Status Signal Object :rtype: StatusSignal[degree] .. py:method:: get_quat_w(refresh: bool = True) -> phoenix6.status_signal.StatusSignal[float] The W component of the reported Quaternion. - Minimum Value: -1.0001220852154804 - Maximum Value: 1.0 - Default Value: 0 - Units: Default Rates: - CAN 2.0: 50.0 Hz - CAN FD: 100.0 Hz (TimeSynced with Pro) This refreshes and returns a cached StatusSignal object. :param refresh: Whether to refresh the StatusSignal before returning it; defaults to true :type refresh: bool :returns: QuatW Status Signal Object :rtype: StatusSignal[float] .. py:method:: get_quat_x(refresh: bool = True) -> phoenix6.status_signal.StatusSignal[float] The X component of the reported Quaternion. - Minimum Value: -1.0001220852154804 - Maximum Value: 1.0 - Default Value: 0 - Units: Default Rates: - CAN 2.0: 50.0 Hz - CAN FD: 100.0 Hz (TimeSynced with Pro) This refreshes and returns a cached StatusSignal object. :param refresh: Whether to refresh the StatusSignal before returning it; defaults to true :type refresh: bool :returns: QuatX Status Signal Object :rtype: StatusSignal[float] .. py:method:: get_quat_y(refresh: bool = True) -> phoenix6.status_signal.StatusSignal[float] The Y component of the reported Quaternion. - Minimum Value: -1.0001220852154804 - Maximum Value: 1.0 - Default Value: 0 - Units: Default Rates: - CAN 2.0: 50.0 Hz - CAN FD: 100.0 Hz (TimeSynced with Pro) This refreshes and returns a cached StatusSignal object. :param refresh: Whether to refresh the StatusSignal before returning it; defaults to true :type refresh: bool :returns: QuatY Status Signal Object :rtype: StatusSignal[float] .. py:method:: get_quat_z(refresh: bool = True) -> phoenix6.status_signal.StatusSignal[float] The Z component of the reported Quaternion. - Minimum Value: -1.0001220852154804 - Maximum Value: 1.0 - Default Value: 0 - Units: Default Rates: - CAN 2.0: 50.0 Hz - CAN FD: 100.0 Hz (TimeSynced with Pro) This refreshes and returns a cached StatusSignal object. :param refresh: Whether to refresh the StatusSignal before returning it; defaults to true :type refresh: bool :returns: QuatZ Status Signal Object :rtype: StatusSignal[float] .. py:method:: get_gravity_vector_x(refresh: bool = True) -> phoenix6.status_signal.StatusSignal[float] The X component of the gravity vector. This is the X component of the reported gravity-vector. The gravity vector is not the acceleration experienced by the Pigeon2, rather it is where the Pigeon2 believes "Down" is. This can be used for mechanisms that are linearly related to gravity, such as an arm pivoting about a point, as the contribution of gravity to the arm is directly proportional to the contribution of gravity about one of these primary axis. - Minimum Value: -1.000030518509476 - Maximum Value: 1.0 - Default Value: 0 - Units: Default Rates: - CAN 2.0: 10.0 Hz - CAN FD: 100.0 Hz (TimeSynced with Pro) This refreshes and returns a cached StatusSignal object. :param refresh: Whether to refresh the StatusSignal before returning it; defaults to true :type refresh: bool :returns: GravityVectorX Status Signal Object :rtype: StatusSignal[float] .. py:method:: get_gravity_vector_y(refresh: bool = True) -> phoenix6.status_signal.StatusSignal[float] The Y component of the gravity vector. This is the X component of the reported gravity-vector. The gravity vector is not the acceleration experienced by the Pigeon2, rather it is where the Pigeon2 believes "Down" is. This can be used for mechanisms that are linearly related to gravity, such as an arm pivoting about a point, as the contribution of gravity to the arm is directly proportional to the contribution of gravity about one of these primary axis. - Minimum Value: -1.000030518509476 - Maximum Value: 1.0 - Default Value: 0 - Units: Default Rates: - CAN 2.0: 10.0 Hz - CAN FD: 100.0 Hz (TimeSynced with Pro) This refreshes and returns a cached StatusSignal object. :param refresh: Whether to refresh the StatusSignal before returning it; defaults to true :type refresh: bool :returns: GravityVectorY Status Signal Object :rtype: StatusSignal[float] .. py:method:: get_gravity_vector_z(refresh: bool = True) -> phoenix6.status_signal.StatusSignal[float] The Z component of the gravity vector. This is the Z component of the reported gravity-vector. The gravity vector is not the acceleration experienced by the Pigeon2, rather it is where the Pigeon2 believes "Down" is. This can be used for mechanisms that are linearly related to gravity, such as an arm pivoting about a point, as the contribution of gravity to the arm is directly proportional to the contribution of gravity about one of these primary axis. - Minimum Value: -1.000030518509476 - Maximum Value: 1.0 - Default Value: 0 - Units: Default Rates: - CAN 2.0: 10.0 Hz - CAN FD: 100.0 Hz (TimeSynced with Pro) This refreshes and returns a cached StatusSignal object. :param refresh: Whether to refresh the StatusSignal before returning it; defaults to true :type refresh: bool :returns: GravityVectorZ Status Signal Object :rtype: StatusSignal[float] .. py:method:: get_temperature(refresh: bool = True) -> phoenix6.status_signal.StatusSignal[phoenix6.units.celsius] Temperature of the Pigeon 2. - Minimum Value: -128.0 - Maximum Value: 127.99609375 - Default Value: 0 - Units: ℃ Default Rates: - CAN 2.0: 4.0 Hz - CAN FD: 100.0 Hz (TimeSynced with Pro) This refreshes and returns a cached StatusSignal object. :param refresh: Whether to refresh the StatusSignal before returning it; defaults to true :type refresh: bool :returns: Temperature Status Signal Object :rtype: StatusSignal[celsius] .. py:method:: get_no_motion_enabled(refresh: bool = True) -> phoenix6.status_signal.StatusSignal[bool] Whether the no-motion calibration feature is enabled. - Default Value: 0 Default Rates: - CAN 2.0: 4.0 Hz - CAN FD: 100.0 Hz (TimeSynced with Pro) This refreshes and returns a cached StatusSignal object. :param refresh: Whether to refresh the StatusSignal before returning it; defaults to true :type refresh: bool :returns: NoMotionEnabled Status Signal Object :rtype: StatusSignal[bool] .. py:method:: get_no_motion_count(refresh: bool = True) -> phoenix6.status_signal.StatusSignal[float] The number of times a no-motion event occurred, wraps at 15. - Minimum Value: 0 - Maximum Value: 15 - Default Value: 0 - Units: Default Rates: - CAN 2.0: 4.0 Hz - CAN FD: 100.0 Hz (TimeSynced with Pro) This refreshes and returns a cached StatusSignal object. :param refresh: Whether to refresh the StatusSignal before returning it; defaults to true :type refresh: bool :returns: NoMotionCount Status Signal Object :rtype: StatusSignal[float] .. py:method:: get_temperature_compensation_disabled(refresh: bool = True) -> phoenix6.status_signal.StatusSignal[bool] Whether the temperature-compensation feature is disabled. - Default Value: 0 Default Rates: - CAN 2.0: 4.0 Hz - CAN FD: 100.0 Hz (TimeSynced with Pro) This refreshes and returns a cached StatusSignal object. :param refresh: Whether to refresh the StatusSignal before returning it; defaults to true :type refresh: bool :returns: TemperatureCompensationDisabled Status Signal Object :rtype: StatusSignal[bool] .. py:method:: get_up_time(refresh: bool = True) -> phoenix6.status_signal.StatusSignal[phoenix6.units.second] How long the Pigeon 2's been up in seconds, caps at 255 seconds. - Minimum Value: 0 - Maximum Value: 255 - Default Value: 0 - Units: s Default Rates: - CAN 2.0: 4.0 Hz - CAN FD: 100.0 Hz (TimeSynced with Pro) This refreshes and returns a cached StatusSignal object. :param refresh: Whether to refresh the StatusSignal before returning it; defaults to true :type refresh: bool :returns: UpTime Status Signal Object :rtype: StatusSignal[second] .. py:method:: get_accum_gyro_x(refresh: bool = True) -> phoenix6.status_signal.StatusSignal[phoenix6.units.degree] The accumulated gyro about the X axis without any sensor fusing. - Minimum Value: -23040.0 - Maximum Value: 23039.9560546875 - Default Value: 0 - Units: deg Default Rates: - CAN 2.0: 4.0 Hz - CAN FD: 100.0 Hz (TimeSynced with Pro) This refreshes and returns a cached StatusSignal object. :param refresh: Whether to refresh the StatusSignal before returning it; defaults to true :type refresh: bool :returns: AccumGyroX Status Signal Object :rtype: StatusSignal[degree] .. py:method:: get_accum_gyro_y(refresh: bool = True) -> phoenix6.status_signal.StatusSignal[phoenix6.units.degree] The accumulated gyro about the Y axis without any sensor fusing. - Minimum Value: -23040.0 - Maximum Value: 23039.9560546875 - Default Value: 0 - Units: deg Default Rates: - CAN 2.0: 4.0 Hz - CAN FD: 100.0 Hz (TimeSynced with Pro) This refreshes and returns a cached StatusSignal object. :param refresh: Whether to refresh the StatusSignal before returning it; defaults to true :type refresh: bool :returns: AccumGyroY Status Signal Object :rtype: StatusSignal[degree] .. py:method:: get_accum_gyro_z(refresh: bool = True) -> phoenix6.status_signal.StatusSignal[phoenix6.units.degree] The accumulated gyro about the Z axis without any sensor fusing. - Minimum Value: -23040.0 - Maximum Value: 23039.9560546875 - Default Value: 0 - Units: deg Default Rates: - CAN 2.0: 4.0 Hz - CAN FD: 100.0 Hz (TimeSynced with Pro) This refreshes and returns a cached StatusSignal object. :param refresh: Whether to refresh the StatusSignal before returning it; defaults to true :type refresh: bool :returns: AccumGyroZ Status Signal Object :rtype: StatusSignal[degree] .. py:method:: get_angular_velocity_x_world(refresh: bool = True) -> phoenix6.status_signal.StatusSignal[phoenix6.units.degrees_per_second] The angular velocity (ω) of the Pigeon 2 about the X axis with respect to the world frame. This value is mount-calibrated. - Minimum Value: -2048.0 - Maximum Value: 2047.99609375 - Default Value: 0 - Units: dps Default Rates: - CAN 2.0: 10.0 Hz - CAN FD: 100.0 Hz (TimeSynced with Pro) This refreshes and returns a cached StatusSignal object. :param refresh: Whether to refresh the StatusSignal before returning it; defaults to true :type refresh: bool :returns: AngularVelocityXWorld Status Signal Object :rtype: StatusSignal[degrees_per_second] .. py:method:: get_angular_velocity_y_world(refresh: bool = True) -> phoenix6.status_signal.StatusSignal[phoenix6.units.degrees_per_second] The angular velocity (ω) of the Pigeon 2 about the Y axis with respect to the world frame. This value is mount-calibrated. - Minimum Value: -2048.0 - Maximum Value: 2047.99609375 - Default Value: 0 - Units: dps Default Rates: - CAN 2.0: 10.0 Hz - CAN FD: 100.0 Hz (TimeSynced with Pro) This refreshes and returns a cached StatusSignal object. :param refresh: Whether to refresh the StatusSignal before returning it; defaults to true :type refresh: bool :returns: AngularVelocityYWorld Status Signal Object :rtype: StatusSignal[degrees_per_second] .. py:method:: get_angular_velocity_z_world(refresh: bool = True) -> phoenix6.status_signal.StatusSignal[phoenix6.units.degrees_per_second] The angular velocity (ω) of the Pigeon 2 about the Z axis with respect to the world frame. This value is mount-calibrated. - Minimum Value: -2048.0 - Maximum Value: 2047.99609375 - Default Value: 0 - Units: dps Default Rates: - CAN 2.0: 10.0 Hz - CAN FD: 100.0 Hz (TimeSynced with Pro) This refreshes and returns a cached StatusSignal object. :param refresh: Whether to refresh the StatusSignal before returning it; defaults to true :type refresh: bool :returns: AngularVelocityZWorld Status Signal Object :rtype: StatusSignal[degrees_per_second] .. py:method:: get_acceleration_x(refresh: bool = True) -> phoenix6.status_signal.StatusSignal[phoenix6.units.g] The acceleration measured by Pigeon2 in the X direction. This value includes the acceleration due to gravity. If this is undesirable, get the gravity vector and subtract out the contribution in this direction. - Minimum Value: -2.0 - Maximum Value: 1.99993896484375 - Default Value: 0 - Units: g Default Rates: - CAN 2.0: 10.0 Hz - CAN FD: 100.0 Hz (TimeSynced with Pro) This refreshes and returns a cached StatusSignal object. :param refresh: Whether to refresh the StatusSignal before returning it; defaults to true :type refresh: bool :returns: AccelerationX Status Signal Object :rtype: StatusSignal[g] .. py:method:: get_acceleration_y(refresh: bool = True) -> phoenix6.status_signal.StatusSignal[phoenix6.units.g] The acceleration measured by Pigeon2 in the Y direction. This value includes the acceleration due to gravity. If this is undesirable, get the gravity vector and subtract out the contribution in this direction. - Minimum Value: -2.0 - Maximum Value: 1.99993896484375 - Default Value: 0 - Units: g Default Rates: - CAN 2.0: 10.0 Hz - CAN FD: 100.0 Hz (TimeSynced with Pro) This refreshes and returns a cached StatusSignal object. :param refresh: Whether to refresh the StatusSignal before returning it; defaults to true :type refresh: bool :returns: AccelerationY Status Signal Object :rtype: StatusSignal[g] .. py:method:: get_acceleration_z(refresh: bool = True) -> phoenix6.status_signal.StatusSignal[phoenix6.units.g] The acceleration measured by Pigeon2 in the Z direction. This value includes the acceleration due to gravity. If this is undesirable, get the gravity vector and subtract out the contribution in this direction. - Minimum Value: -2.0 - Maximum Value: 1.99993896484375 - Default Value: 0 - Units: g Default Rates: - CAN 2.0: 10.0 Hz - CAN FD: 100.0 Hz (TimeSynced with Pro) This refreshes and returns a cached StatusSignal object. :param refresh: Whether to refresh the StatusSignal before returning it; defaults to true :type refresh: bool :returns: AccelerationZ Status Signal Object :rtype: StatusSignal[g] .. py:method:: get_supply_voltage(refresh: bool = True) -> phoenix6.status_signal.StatusSignal[phoenix6.units.volt] Measured supply voltage to the Pigeon2. - Minimum Value: 0.0 - Maximum Value: 31.99951171875 - Default Value: 0 - Units: V Default Rates: - CAN 2.0: 4.0 Hz - CAN FD: 100.0 Hz (TimeSynced with Pro) This refreshes and returns a cached StatusSignal object. :param refresh: Whether to refresh the StatusSignal before returning it; defaults to true :type refresh: bool :returns: SupplyVoltage Status Signal Object :rtype: StatusSignal[volt] .. py:method:: get_angular_velocity_x_device(refresh: bool = True) -> phoenix6.status_signal.StatusSignal[phoenix6.units.degrees_per_second] The angular velocity (ω) of the Pigeon 2 about the device's X axis. This value is not mount-calibrated. - Minimum Value: -1998.048780487805 - Maximum Value: 1997.987804878049 - Default Value: 0 - Units: dps Default Rates: - CAN: 4.0 Hz This refreshes and returns a cached StatusSignal object. :param refresh: Whether to refresh the StatusSignal before returning it; defaults to true :type refresh: bool :returns: AngularVelocityXDevice Status Signal Object :rtype: StatusSignal[degrees_per_second] .. py:method:: get_angular_velocity_y_device(refresh: bool = True) -> phoenix6.status_signal.StatusSignal[phoenix6.units.degrees_per_second] The angular velocity (ω) of the Pigeon 2 about the device's Y axis. This value is not mount-calibrated. - Minimum Value: -1998.048780487805 - Maximum Value: 1997.987804878049 - Default Value: 0 - Units: dps Default Rates: - CAN: 4.0 Hz This refreshes and returns a cached StatusSignal object. :param refresh: Whether to refresh the StatusSignal before returning it; defaults to true :type refresh: bool :returns: AngularVelocityYDevice Status Signal Object :rtype: StatusSignal[degrees_per_second] .. py:method:: get_angular_velocity_z_device(refresh: bool = True) -> phoenix6.status_signal.StatusSignal[phoenix6.units.degrees_per_second] The angular velocity (ω) of the Pigeon 2 about the device's Z axis. This value is not mount-calibrated. - Minimum Value: -1998.048780487805 - Maximum Value: 1997.987804878049 - Default Value: 0 - Units: dps Default Rates: - CAN: 4.0 Hz This refreshes and returns a cached StatusSignal object. :param refresh: Whether to refresh the StatusSignal before returning it; defaults to true :type refresh: bool :returns: AngularVelocityZDevice Status Signal Object :rtype: StatusSignal[degrees_per_second] .. py:method:: get_magnetic_field_x(refresh: bool = True) -> phoenix6.status_signal.StatusSignal[phoenix6.units.microtesla] The biased magnitude of the magnetic field measured by the Pigeon 2 in the X direction. This is only valid after performing a magnetometer calibration. - Minimum Value: -19660.8 - Maximum Value: 19660.2 - Default Value: 0 - Units: uT Default Rates: - CAN: 4.0 Hz This refreshes and returns a cached StatusSignal object. :param refresh: Whether to refresh the StatusSignal before returning it; defaults to true :type refresh: bool :returns: MagneticFieldX Status Signal Object :rtype: StatusSignal[microtesla] .. py:method:: get_magnetic_field_y(refresh: bool = True) -> phoenix6.status_signal.StatusSignal[phoenix6.units.microtesla] The biased magnitude of the magnetic field measured by the Pigeon 2 in the Y direction. This is only valid after performing a magnetometer calibration. - Minimum Value: -19660.8 - Maximum Value: 19660.2 - Default Value: 0 - Units: uT Default Rates: - CAN: 4.0 Hz This refreshes and returns a cached StatusSignal object. :param refresh: Whether to refresh the StatusSignal before returning it; defaults to true :type refresh: bool :returns: MagneticFieldY Status Signal Object :rtype: StatusSignal[microtesla] .. py:method:: get_magnetic_field_z(refresh: bool = True) -> phoenix6.status_signal.StatusSignal[phoenix6.units.microtesla] The biased magnitude of the magnetic field measured by the Pigeon 2 in the Z direction. This is only valid after performing a magnetometer calibration. - Minimum Value: -19660.8 - Maximum Value: 19660.2 - Default Value: 0 - Units: uT Default Rates: - CAN: 4.0 Hz This refreshes and returns a cached StatusSignal object. :param refresh: Whether to refresh the StatusSignal before returning it; defaults to true :type refresh: bool :returns: MagneticFieldZ Status Signal Object :rtype: StatusSignal[microtesla] .. py:method:: get_raw_magnetic_field_x(refresh: bool = True) -> phoenix6.status_signal.StatusSignal[phoenix6.units.microtesla] The raw magnitude of the magnetic field measured by the Pigeon 2 in the X direction. This is only valid after performing a magnetometer calibration. - Minimum Value: -19660.8 - Maximum Value: 19660.2 - Default Value: 0 - Units: uT Default Rates: - CAN: 4.0 Hz This refreshes and returns a cached StatusSignal object. :param refresh: Whether to refresh the StatusSignal before returning it; defaults to true :type refresh: bool :returns: RawMagneticFieldX Status Signal Object :rtype: StatusSignal[microtesla] .. py:method:: get_raw_magnetic_field_y(refresh: bool = True) -> phoenix6.status_signal.StatusSignal[phoenix6.units.microtesla] The raw magnitude of the magnetic field measured by the Pigeon 2 in the Y direction. This is only valid after performing a magnetometer calibration. - Minimum Value: -19660.8 - Maximum Value: 19660.2 - Default Value: 0 - Units: uT Default Rates: - CAN: 4.0 Hz This refreshes and returns a cached StatusSignal object. :param refresh: Whether to refresh the StatusSignal before returning it; defaults to true :type refresh: bool :returns: RawMagneticFieldY Status Signal Object :rtype: StatusSignal[microtesla] .. py:method:: get_raw_magnetic_field_z(refresh: bool = True) -> phoenix6.status_signal.StatusSignal[phoenix6.units.microtesla] The raw magnitude of the magnetic field measured by the Pigeon 2 in the Z direction. This is only valid after performing a magnetometer calibration. - Minimum Value: -19660.8 - Maximum Value: 19660.2 - Default Value: 0 - Units: uT Default Rates: - CAN: 4.0 Hz This refreshes and returns a cached StatusSignal object. :param refresh: Whether to refresh the StatusSignal before returning it; defaults to true :type refresh: bool :returns: RawMagneticFieldZ Status Signal Object :rtype: StatusSignal[microtesla] .. py:method:: get_is_pro_licensed(refresh: bool = True) -> phoenix6.status_signal.StatusSignal[bool] Whether the device is Phoenix Pro licensed. - Default Value: False Default Rates: - CAN: 4.0 Hz This refreshes and returns a cached StatusSignal object. :param refresh: Whether to refresh the StatusSignal before returning it; defaults to true :type refresh: bool :returns: IsProLicensed Status Signal Object :rtype: StatusSignal[bool] .. py:method:: get_fault_hardware(refresh: bool = True) -> phoenix6.status_signal.StatusSignal[bool] Hardware fault occurred - Default Value: False Default Rates: - CAN: 4.0 Hz This refreshes and returns a cached StatusSignal object. :param refresh: Whether to refresh the StatusSignal before returning it; defaults to true :type refresh: bool :returns: Fault_Hardware Status Signal Object :rtype: StatusSignal[bool] .. py:method:: get_sticky_fault_hardware(refresh: bool = True) -> phoenix6.status_signal.StatusSignal[bool] Hardware fault occurred - Default Value: False Default Rates: - CAN: 4.0 Hz This refreshes and returns a cached StatusSignal object. :param refresh: Whether to refresh the StatusSignal before returning it; defaults to true :type refresh: bool :returns: StickyFault_Hardware Status Signal Object :rtype: StatusSignal[bool] .. py:method:: get_fault_undervoltage(refresh: bool = True) -> phoenix6.status_signal.StatusSignal[bool] Device supply voltage dropped to near brownout levels - Default Value: False Default Rates: - CAN: 4.0 Hz This refreshes and returns a cached StatusSignal object. :param refresh: Whether to refresh the StatusSignal before returning it; defaults to true :type refresh: bool :returns: Fault_Undervoltage Status Signal Object :rtype: StatusSignal[bool] .. py:method:: get_sticky_fault_undervoltage(refresh: bool = True) -> phoenix6.status_signal.StatusSignal[bool] Device supply voltage dropped to near brownout levels - Default Value: False Default Rates: - CAN: 4.0 Hz This refreshes and returns a cached StatusSignal object. :param refresh: Whether to refresh the StatusSignal before returning it; defaults to true :type refresh: bool :returns: StickyFault_Undervoltage Status Signal Object :rtype: StatusSignal[bool] .. py:method:: get_fault_boot_during_enable(refresh: bool = True) -> phoenix6.status_signal.StatusSignal[bool] Device boot while detecting the enable signal - Default Value: False Default Rates: - CAN: 4.0 Hz This refreshes and returns a cached StatusSignal object. :param refresh: Whether to refresh the StatusSignal before returning it; defaults to true :type refresh: bool :returns: Fault_BootDuringEnable Status Signal Object :rtype: StatusSignal[bool] .. py:method:: get_sticky_fault_boot_during_enable(refresh: bool = True) -> phoenix6.status_signal.StatusSignal[bool] Device boot while detecting the enable signal - Default Value: False Default Rates: - CAN: 4.0 Hz This refreshes and returns a cached StatusSignal object. :param refresh: Whether to refresh the StatusSignal before returning it; defaults to true :type refresh: bool :returns: StickyFault_BootDuringEnable Status Signal Object :rtype: StatusSignal[bool] .. py:method:: get_fault_unlicensed_feature_in_use(refresh: bool = True) -> phoenix6.status_signal.StatusSignal[bool] An unlicensed feature is in use, device may not behave as expected. - Default Value: False Default Rates: - CAN: 4.0 Hz This refreshes and returns a cached StatusSignal object. :param refresh: Whether to refresh the StatusSignal before returning it; defaults to true :type refresh: bool :returns: Fault_UnlicensedFeatureInUse Status Signal Object :rtype: StatusSignal[bool] .. py:method:: get_sticky_fault_unlicensed_feature_in_use(refresh: bool = True) -> phoenix6.status_signal.StatusSignal[bool] An unlicensed feature is in use, device may not behave as expected. - Default Value: False Default Rates: - CAN: 4.0 Hz This refreshes and returns a cached StatusSignal object. :param refresh: Whether to refresh the StatusSignal before returning it; defaults to true :type refresh: bool :returns: StickyFault_UnlicensedFeatureInUse Status Signal Object :rtype: StatusSignal[bool] .. py:method:: get_fault_bootup_accelerometer(refresh: bool = True) -> phoenix6.status_signal.StatusSignal[bool] Bootup checks failed: Accelerometer - Default Value: False Default Rates: - CAN: 4.0 Hz This refreshes and returns a cached StatusSignal object. :param refresh: Whether to refresh the StatusSignal before returning it; defaults to true :type refresh: bool :returns: Fault_BootupAccelerometer Status Signal Object :rtype: StatusSignal[bool] .. py:method:: get_sticky_fault_bootup_accelerometer(refresh: bool = True) -> phoenix6.status_signal.StatusSignal[bool] Bootup checks failed: Accelerometer - Default Value: False Default Rates: - CAN: 4.0 Hz This refreshes and returns a cached StatusSignal object. :param refresh: Whether to refresh the StatusSignal before returning it; defaults to true :type refresh: bool :returns: StickyFault_BootupAccelerometer Status Signal Object :rtype: StatusSignal[bool] .. py:method:: get_fault_bootup_gyroscope(refresh: bool = True) -> phoenix6.status_signal.StatusSignal[bool] Bootup checks failed: Gyroscope - Default Value: False Default Rates: - CAN: 4.0 Hz This refreshes and returns a cached StatusSignal object. :param refresh: Whether to refresh the StatusSignal before returning it; defaults to true :type refresh: bool :returns: Fault_BootupGyroscope Status Signal Object :rtype: StatusSignal[bool] .. py:method:: get_sticky_fault_bootup_gyroscope(refresh: bool = True) -> phoenix6.status_signal.StatusSignal[bool] Bootup checks failed: Gyroscope - Default Value: False Default Rates: - CAN: 4.0 Hz This refreshes and returns a cached StatusSignal object. :param refresh: Whether to refresh the StatusSignal before returning it; defaults to true :type refresh: bool :returns: StickyFault_BootupGyroscope Status Signal Object :rtype: StatusSignal[bool] .. py:method:: get_fault_bootup_magnetometer(refresh: bool = True) -> phoenix6.status_signal.StatusSignal[bool] Bootup checks failed: Magnetometer - Default Value: False Default Rates: - CAN: 4.0 Hz This refreshes and returns a cached StatusSignal object. :param refresh: Whether to refresh the StatusSignal before returning it; defaults to true :type refresh: bool :returns: Fault_BootupMagnetometer Status Signal Object :rtype: StatusSignal[bool] .. py:method:: get_sticky_fault_bootup_magnetometer(refresh: bool = True) -> phoenix6.status_signal.StatusSignal[bool] Bootup checks failed: Magnetometer - Default Value: False Default Rates: - CAN: 4.0 Hz This refreshes and returns a cached StatusSignal object. :param refresh: Whether to refresh the StatusSignal before returning it; defaults to true :type refresh: bool :returns: StickyFault_BootupMagnetometer Status Signal Object :rtype: StatusSignal[bool] .. py:method:: get_fault_boot_into_motion(refresh: bool = True) -> phoenix6.status_signal.StatusSignal[bool] Motion Detected during bootup. - Default Value: False Default Rates: - CAN: 4.0 Hz This refreshes and returns a cached StatusSignal object. :param refresh: Whether to refresh the StatusSignal before returning it; defaults to true :type refresh: bool :returns: Fault_BootIntoMotion Status Signal Object :rtype: StatusSignal[bool] .. py:method:: get_sticky_fault_boot_into_motion(refresh: bool = True) -> phoenix6.status_signal.StatusSignal[bool] Motion Detected during bootup. - Default Value: False Default Rates: - CAN: 4.0 Hz This refreshes and returns a cached StatusSignal object. :param refresh: Whether to refresh the StatusSignal before returning it; defaults to true :type refresh: bool :returns: StickyFault_BootIntoMotion Status Signal Object :rtype: StatusSignal[bool] .. py:method:: get_fault_data_acquired_late(refresh: bool = True) -> phoenix6.status_signal.StatusSignal[bool] Motion stack data acquisition was slower than expected - Default Value: False Default Rates: - CAN: 4.0 Hz This refreshes and returns a cached StatusSignal object. :param refresh: Whether to refresh the StatusSignal before returning it; defaults to true :type refresh: bool :returns: Fault_DataAcquiredLate Status Signal Object :rtype: StatusSignal[bool] .. py:method:: get_sticky_fault_data_acquired_late(refresh: bool = True) -> phoenix6.status_signal.StatusSignal[bool] Motion stack data acquisition was slower than expected - Default Value: False Default Rates: - CAN: 4.0 Hz This refreshes and returns a cached StatusSignal object. :param refresh: Whether to refresh the StatusSignal before returning it; defaults to true :type refresh: bool :returns: StickyFault_DataAcquiredLate Status Signal Object :rtype: StatusSignal[bool] .. py:method:: get_fault_loop_time_slow(refresh: bool = True) -> phoenix6.status_signal.StatusSignal[bool] Motion stack loop time was slower than expected. - Default Value: False Default Rates: - CAN: 4.0 Hz This refreshes and returns a cached StatusSignal object. :param refresh: Whether to refresh the StatusSignal before returning it; defaults to true :type refresh: bool :returns: Fault_LoopTimeSlow Status Signal Object :rtype: StatusSignal[bool] .. py:method:: get_sticky_fault_loop_time_slow(refresh: bool = True) -> phoenix6.status_signal.StatusSignal[bool] Motion stack loop time was slower than expected. - Default Value: False Default Rates: - CAN: 4.0 Hz This refreshes and returns a cached StatusSignal object. :param refresh: Whether to refresh the StatusSignal before returning it; defaults to true :type refresh: bool :returns: StickyFault_LoopTimeSlow Status Signal Object :rtype: StatusSignal[bool] .. py:method:: get_fault_saturated_magnetometer(refresh: bool = True) -> phoenix6.status_signal.StatusSignal[bool] Magnetometer values are saturated - Default Value: False Default Rates: - CAN: 4.0 Hz This refreshes and returns a cached StatusSignal object. :param refresh: Whether to refresh the StatusSignal before returning it; defaults to true :type refresh: bool :returns: Fault_SaturatedMagnetometer Status Signal Object :rtype: StatusSignal[bool] .. py:method:: get_sticky_fault_saturated_magnetometer(refresh: bool = True) -> phoenix6.status_signal.StatusSignal[bool] Magnetometer values are saturated - Default Value: False Default Rates: - CAN: 4.0 Hz This refreshes and returns a cached StatusSignal object. :param refresh: Whether to refresh the StatusSignal before returning it; defaults to true :type refresh: bool :returns: StickyFault_SaturatedMagnetometer Status Signal Object :rtype: StatusSignal[bool] .. py:method:: get_fault_saturated_accelerometer(refresh: bool = True) -> phoenix6.status_signal.StatusSignal[bool] Accelerometer values are saturated - Default Value: False Default Rates: - CAN: 4.0 Hz This refreshes and returns a cached StatusSignal object. :param refresh: Whether to refresh the StatusSignal before returning it; defaults to true :type refresh: bool :returns: Fault_SaturatedAccelerometer Status Signal Object :rtype: StatusSignal[bool] .. py:method:: get_sticky_fault_saturated_accelerometer(refresh: bool = True) -> phoenix6.status_signal.StatusSignal[bool] Accelerometer values are saturated - Default Value: False Default Rates: - CAN: 4.0 Hz This refreshes and returns a cached StatusSignal object. :param refresh: Whether to refresh the StatusSignal before returning it; defaults to true :type refresh: bool :returns: StickyFault_SaturatedAccelerometer Status Signal Object :rtype: StatusSignal[bool] .. py:method:: get_fault_saturated_gyroscope(refresh: bool = True) -> phoenix6.status_signal.StatusSignal[bool] Gyroscope values are saturated - Default Value: False Default Rates: - CAN: 4.0 Hz This refreshes and returns a cached StatusSignal object. :param refresh: Whether to refresh the StatusSignal before returning it; defaults to true :type refresh: bool :returns: Fault_SaturatedGyroscope Status Signal Object :rtype: StatusSignal[bool] .. py:method:: get_sticky_fault_saturated_gyroscope(refresh: bool = True) -> phoenix6.status_signal.StatusSignal[bool] Gyroscope values are saturated - Default Value: False Default Rates: - CAN: 4.0 Hz This refreshes and returns a cached StatusSignal object. :param refresh: Whether to refresh the StatusSignal before returning it; defaults to true :type refresh: bool :returns: StickyFault_SaturatedGyroscope Status Signal Object :rtype: StatusSignal[bool] .. py:method:: set_yaw(new_value: phoenix6.units.degree, timeout_seconds: phoenix6.units.second = 0.1) -> phoenix6.status_code.StatusCode The yaw to set the Pigeon2 to right now. :param new_value: Value to set to. Units are in deg. :type new_value: degree :param timeout_seconds: Maximum time to wait up to in seconds. :type timeout_seconds: second :returns: StatusCode of the set command :rtype: StatusCode .. py:method:: clear_sticky_faults(timeout_seconds: phoenix6.units.second = 0.1) -> phoenix6.status_code.StatusCode Clear the sticky faults in the device. This typically has no impact on the device functionality. Instead, it just clears telemetry faults that are accessible via API and Tuner Self-Test. :param timeout_seconds: Maximum time to wait up to in seconds. :type timeout_seconds: second :returns: StatusCode of the set command :rtype: StatusCode .. py:method:: clear_sticky_fault_hardware(timeout_seconds: phoenix6.units.second = 0.1) -> phoenix6.status_code.StatusCode Clear sticky fault: Hardware fault occurred :param timeout_seconds: Maximum time to wait up to in seconds. :type timeout_seconds: second :returns: StatusCode of the set command :rtype: StatusCode .. py:method:: clear_sticky_fault_undervoltage(timeout_seconds: phoenix6.units.second = 0.1) -> phoenix6.status_code.StatusCode Clear sticky fault: Device supply voltage dropped to near brownout levels :param timeout_seconds: Maximum time to wait up to in seconds. :type timeout_seconds: second :returns: StatusCode of the set command :rtype: StatusCode .. py:method:: clear_sticky_fault_boot_during_enable(timeout_seconds: phoenix6.units.second = 0.1) -> phoenix6.status_code.StatusCode Clear sticky fault: Device boot while detecting the enable signal :param timeout_seconds: Maximum time to wait up to in seconds. :type timeout_seconds: second :returns: StatusCode of the set command :rtype: StatusCode .. py:method:: clear_sticky_fault_unlicensed_feature_in_use(timeout_seconds: phoenix6.units.second = 0.1) -> phoenix6.status_code.StatusCode Clear sticky fault: An unlicensed feature is in use, device may not behave as expected. :param timeout_seconds: Maximum time to wait up to in seconds. :type timeout_seconds: second :returns: StatusCode of the set command :rtype: StatusCode .. py:method:: clear_sticky_fault_bootup_accelerometer(timeout_seconds: phoenix6.units.second = 0.1) -> phoenix6.status_code.StatusCode Clear sticky fault: Bootup checks failed: Accelerometer :param timeout_seconds: Maximum time to wait up to in seconds. :type timeout_seconds: second :returns: StatusCode of the set command :rtype: StatusCode .. py:method:: clear_sticky_fault_bootup_gyroscope(timeout_seconds: phoenix6.units.second = 0.1) -> phoenix6.status_code.StatusCode Clear sticky fault: Bootup checks failed: Gyroscope :param timeout_seconds: Maximum time to wait up to in seconds. :type timeout_seconds: second :returns: StatusCode of the set command :rtype: StatusCode .. py:method:: clear_sticky_fault_bootup_magnetometer(timeout_seconds: phoenix6.units.second = 0.1) -> phoenix6.status_code.StatusCode Clear sticky fault: Bootup checks failed: Magnetometer :param timeout_seconds: Maximum time to wait up to in seconds. :type timeout_seconds: second :returns: StatusCode of the set command :rtype: StatusCode .. py:method:: clear_sticky_fault_boot_into_motion(timeout_seconds: phoenix6.units.second = 0.1) -> phoenix6.status_code.StatusCode Clear sticky fault: Motion Detected during bootup. :param timeout_seconds: Maximum time to wait up to in seconds. :type timeout_seconds: second :returns: StatusCode of the set command :rtype: StatusCode .. py:method:: clear_sticky_fault_data_acquired_late(timeout_seconds: phoenix6.units.second = 0.1) -> phoenix6.status_code.StatusCode Clear sticky fault: Motion stack data acquisition was slower than expected :param timeout_seconds: Maximum time to wait up to in seconds. :type timeout_seconds: second :returns: StatusCode of the set command :rtype: StatusCode .. py:method:: clear_sticky_fault_loop_time_slow(timeout_seconds: phoenix6.units.second = 0.1) -> phoenix6.status_code.StatusCode Clear sticky fault: Motion stack loop time was slower than expected. :param timeout_seconds: Maximum time to wait up to in seconds. :type timeout_seconds: second :returns: StatusCode of the set command :rtype: StatusCode .. py:method:: clear_sticky_fault_saturated_magnetometer(timeout_seconds: phoenix6.units.second = 0.1) -> phoenix6.status_code.StatusCode Clear sticky fault: Magnetometer values are saturated :param timeout_seconds: Maximum time to wait up to in seconds. :type timeout_seconds: second :returns: StatusCode of the set command :rtype: StatusCode .. py:method:: clear_sticky_fault_saturated_accelerometer(timeout_seconds: phoenix6.units.second = 0.1) -> phoenix6.status_code.StatusCode Clear sticky fault: Accelerometer values are saturated :param timeout_seconds: Maximum time to wait up to in seconds. :type timeout_seconds: second :returns: StatusCode of the set command :rtype: StatusCode .. py:method:: clear_sticky_fault_saturated_gyroscope(timeout_seconds: phoenix6.units.second = 0.1) -> phoenix6.status_code.StatusCode Clear sticky fault: Gyroscope values are saturated :param timeout_seconds: Maximum time to wait up to in seconds. :type timeout_seconds: second :returns: StatusCode of the set command :rtype: StatusCode .. py:class:: CoreTalonFXS(device_id: int, canbus: phoenix6.canbus.CANBus | str = CANBus()) Bases: :py:obj:`phoenix6.hardware.parent_device.ParentDevice`, :py:obj:`phoenix6.hardware.traits.common_talon_with_external_motor.CommonTalonWithExternalMotor` Class description for the Talon FXS motor controller. Constructs a new Talon FXS motor controller object. .. versionchanged:: 2026 Constructing devices with a CAN bus string is deprecated for removal in the 2027 season. Construct devices using a CANBus instance instead. :param device_id: ID of the device, as configured in Phoenix Tuner :type device_id: int :param canbus: 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 :type canbus: CANBus | str, optional .. py:property:: sim_state :type: phoenix6.sim.talon_fxs_sim_state.TalonFXSSimState Get the simulation state for this device. This function reuses an allocated simulation state object, so it is safe to call this function multiple times in a robot loop. :returns: Simulation state :rtype: TalonFXSSimState .. py:attribute:: Configuration The configuration class for this device. .. py:attribute:: configurator .. py:method:: none() :classmethod: Constructs a stubbed-out CoreTalonFXS, where all status signals, controls, configs, etc. perform no action and immediately return OK. This can be used to silence error messages for devices that have been completely removed from the robot. :returns: Stubbed-out CoreTalonFXS :rtype: CoreTalonFXS .. py:method:: get_version_major(refresh: bool = True) -> phoenix6.status_signal.StatusSignal[int] App Major Version number. - Minimum Value: 0 - Maximum Value: 255 - Default Value: 0 - Units: Default Rates: - CAN: 4.0 Hz This refreshes and returns a cached StatusSignal object. :param refresh: Whether to refresh the StatusSignal before returning it; defaults to true :type refresh: bool :returns: VersionMajor Status Signal Object :rtype: StatusSignal[int] .. py:method:: get_version_minor(refresh: bool = True) -> phoenix6.status_signal.StatusSignal[int] App Minor Version number. - Minimum Value: 0 - Maximum Value: 255 - Default Value: 0 - Units: Default Rates: - CAN: 4.0 Hz This refreshes and returns a cached StatusSignal object. :param refresh: Whether to refresh the StatusSignal before returning it; defaults to true :type refresh: bool :returns: VersionMinor Status Signal Object :rtype: StatusSignal[int] .. py:method:: get_version_bugfix(refresh: bool = True) -> phoenix6.status_signal.StatusSignal[int] App Bugfix Version number. - Minimum Value: 0 - Maximum Value: 255 - Default Value: 0 - Units: Default Rates: - CAN: 4.0 Hz This refreshes and returns a cached StatusSignal object. :param refresh: Whether to refresh the StatusSignal before returning it; defaults to true :type refresh: bool :returns: VersionBugfix Status Signal Object :rtype: StatusSignal[int] .. py:method:: get_version_build(refresh: bool = True) -> phoenix6.status_signal.StatusSignal[int] App Build Version number. - Minimum Value: 0 - Maximum Value: 255 - Default Value: 0 - Units: Default Rates: - CAN: 4.0 Hz This refreshes and returns a cached StatusSignal object. :param refresh: Whether to refresh the StatusSignal before returning it; defaults to true :type refresh: bool :returns: VersionBuild Status Signal Object :rtype: StatusSignal[int] .. py:method:: get_version(refresh: bool = True) -> phoenix6.status_signal.StatusSignal[int] Full Version of firmware in device. The format is a four byte value. - Minimum Value: 0 - Maximum Value: 4294967295 - Default Value: 0 - Units: Default Rates: - CAN: 4.0 Hz This refreshes and returns a cached StatusSignal object. :param refresh: Whether to refresh the StatusSignal before returning it; defaults to true :type refresh: bool :returns: Version Status Signal Object :rtype: StatusSignal[int] .. py:method:: get_fault_field(refresh: bool = True) -> phoenix6.status_signal.StatusSignal[int] Integer representing all fault flags reported by the device. These are device specific and are not used directly in typical applications. Use the signal specific GetFault_*() methods instead. - Minimum Value: 0 - Maximum Value: 4294967295 - Default Value: 0 - Units: Default Rates: - CAN: 4.0 Hz This refreshes and returns a cached StatusSignal object. :param refresh: Whether to refresh the StatusSignal before returning it; defaults to true :type refresh: bool :returns: FaultField Status Signal Object :rtype: StatusSignal[int] .. py:method:: get_sticky_fault_field(refresh: bool = True) -> phoenix6.status_signal.StatusSignal[int] Integer representing all (persistent) sticky fault flags reported by the device. These are device specific and are not used directly in typical applications. Use the signal specific GetStickyFault_*() methods instead. - Minimum Value: 0 - Maximum Value: 4294967295 - Default Value: 0 - Units: Default Rates: - CAN: 4.0 Hz This refreshes and returns a cached StatusSignal object. :param refresh: Whether to refresh the StatusSignal before returning it; defaults to true :type refresh: bool :returns: StickyFaultField Status Signal Object :rtype: StatusSignal[int] .. py:method:: get_motor_voltage(refresh: bool = True) -> phoenix6.status_signal.StatusSignal[phoenix6.units.volt] The applied (output) motor voltage. - Minimum Value: -40.96 - Maximum Value: 40.95 - Default Value: 0 - Units: V Default Rates: - CAN 2.0: 100.0 Hz - CAN FD: 100.0 Hz (TimeSynced with Pro) This refreshes and returns a cached StatusSignal object. :param refresh: Whether to refresh the StatusSignal before returning it; defaults to true :type refresh: bool :returns: MotorVoltage Status Signal Object :rtype: StatusSignal[volt] .. py:method:: get_forward_limit(refresh: bool = True) -> phoenix6.status_signal.StatusSignal[phoenix6.signals.spn_enums.ForwardLimitValue] Forward Limit Pin. Default Rates: - CAN 2.0: 100.0 Hz - CAN FD: 100.0 Hz (TimeSynced with Pro) This refreshes and returns a cached StatusSignal object. :param refresh: Whether to refresh the StatusSignal before returning it; defaults to true :type refresh: bool :returns: ForwardLimit Status Signal Object :rtype: StatusSignal[ForwardLimitValue] .. py:method:: get_reverse_limit(refresh: bool = True) -> phoenix6.status_signal.StatusSignal[phoenix6.signals.spn_enums.ReverseLimitValue] Reverse Limit Pin. Default Rates: - CAN 2.0: 100.0 Hz - CAN FD: 100.0 Hz (TimeSynced with Pro) This refreshes and returns a cached StatusSignal object. :param refresh: Whether to refresh the StatusSignal before returning it; defaults to true :type refresh: bool :returns: ReverseLimit Status Signal Object :rtype: StatusSignal[ReverseLimitValue] .. py:method:: get_applied_rotor_polarity(refresh: bool = True) -> phoenix6.status_signal.StatusSignal[phoenix6.signals.spn_enums.AppliedRotorPolarityValue] The applied rotor polarity as seen from the front of the motor. This typically is determined by the Inverted config, but can be overridden if using Follower features. Default Rates: - CAN 2.0: 100.0 Hz - CAN FD: 100.0 Hz (TimeSynced with Pro) This refreshes and returns a cached StatusSignal object. :param refresh: Whether to refresh the StatusSignal before returning it; defaults to true :type refresh: bool :returns: AppliedRotorPolarity Status Signal Object :rtype: StatusSignal[AppliedRotorPolarityValue] .. py:method:: get_duty_cycle(refresh: bool = True) -> phoenix6.status_signal.StatusSignal[float] The applied motor duty cycle. - Minimum Value: -2.0 - Maximum Value: 1.9990234375 - Default Value: 0 - Units: fractional Default Rates: - CAN 2.0: 100.0 Hz - CAN FD: 100.0 Hz (TimeSynced with Pro) This refreshes and returns a cached StatusSignal object. :param refresh: Whether to refresh the StatusSignal before returning it; defaults to true :type refresh: bool :returns: DutyCycle Status Signal Object :rtype: StatusSignal[float] .. py:method:: get_torque_current(refresh: bool = True) -> phoenix6.status_signal.StatusSignal[phoenix6.units.ampere] Current corresponding to the torque output by the motor. Similar to StatorCurrent. Users will likely prefer this current to calculate the applied torque to the rotor. Stator current where positive current means torque is applied in the forward direction as determined by the Inverted setting. - Minimum Value: -327.68 - Maximum Value: 327.67 - Default Value: 0 - Units: A Default Rates: - CAN 2.0: 100.0 Hz - CAN FD: 100.0 Hz (TimeSynced with Pro) This refreshes and returns a cached StatusSignal object. :param refresh: Whether to refresh the StatusSignal before returning it; defaults to true :type refresh: bool :returns: TorqueCurrent Status Signal Object :rtype: StatusSignal[ampere] .. py:method:: get_stator_current(refresh: bool = True) -> phoenix6.status_signal.StatusSignal[phoenix6.units.ampere] Current corresponding to the stator windings. Similar to TorqueCurrent. Users will likely prefer TorqueCurrent over StatorCurrent. Stator current where Positive current indicates motoring regardless of direction. Negative current indicates regenerative braking regardless of direction. - Minimum Value: -327.68 - Maximum Value: 327.66 - Default Value: 0 - Units: A Default Rates: - CAN 2.0: 4.0 Hz - CAN FD: 100.0 Hz (TimeSynced with Pro) This refreshes and returns a cached StatusSignal object. :param refresh: Whether to refresh the StatusSignal before returning it; defaults to true :type refresh: bool :returns: StatorCurrent Status Signal Object :rtype: StatusSignal[ampere] .. py:method:: get_supply_current(refresh: bool = True) -> phoenix6.status_signal.StatusSignal[phoenix6.units.ampere] Measured supply side current. - Minimum Value: -327.68 - Maximum Value: 327.66 - Default Value: 0 - Units: A Default Rates: - CAN 2.0: 4.0 Hz - CAN FD: 100.0 Hz (TimeSynced with Pro) This refreshes and returns a cached StatusSignal object. :param refresh: Whether to refresh the StatusSignal before returning it; defaults to true :type refresh: bool :returns: SupplyCurrent Status Signal Object :rtype: StatusSignal[ampere] .. py:method:: get_supply_voltage(refresh: bool = True) -> phoenix6.status_signal.StatusSignal[phoenix6.units.volt] Measured supply voltage to the device. - Minimum Value: 4 - Maximum Value: 29.575 - Default Value: 4 - Units: V Default Rates: - CAN 2.0: 4.0 Hz - CAN FD: 100.0 Hz (TimeSynced with Pro) This refreshes and returns a cached StatusSignal object. :param refresh: Whether to refresh the StatusSignal before returning it; defaults to true :type refresh: bool :returns: SupplyVoltage Status Signal Object :rtype: StatusSignal[volt] .. py:method:: get_device_temp(refresh: bool = True) -> phoenix6.status_signal.StatusSignal[phoenix6.units.celsius] Temperature of device. This is the temperature that the device measures itself to be at. Similar to Processor Temperature. - Minimum Value: 0.0 - Maximum Value: 255.0 - Default Value: 0 - Units: ℃ Default Rates: - CAN 2.0: 4.0 Hz - CAN FD: 100.0 Hz (TimeSynced with Pro) This refreshes and returns a cached StatusSignal object. :param refresh: Whether to refresh the StatusSignal before returning it; defaults to true :type refresh: bool :returns: DeviceTemp Status Signal Object :rtype: StatusSignal[celsius] .. py:method:: get_processor_temp(refresh: bool = True) -> phoenix6.status_signal.StatusSignal[phoenix6.units.celsius] Temperature of the processor. This is the temperature that the processor measures itself to be at. Similar to Device Temperature. - Minimum Value: 0.0 - Maximum Value: 255.0 - Default Value: 0 - Units: ℃ Default Rates: - CAN 2.0: 4.0 Hz - CAN FD: 100.0 Hz (TimeSynced with Pro) This refreshes and returns a cached StatusSignal object. :param refresh: Whether to refresh the StatusSignal before returning it; defaults to true :type refresh: bool :returns: ProcessorTemp Status Signal Object :rtype: StatusSignal[celsius] .. py:method:: get_rotor_velocity(refresh: bool = True) -> phoenix6.status_signal.StatusSignal[phoenix6.units.rotations_per_second] Velocity of the motor rotor. This velocity is not affected by any feedback configs. - Minimum Value: -512.0 - Maximum Value: 511.998046875 - Default Value: 0 - Units: rotations per second Default Rates: - CAN 2.0: 4.0 Hz - CAN FD: 100.0 Hz (TimeSynced with Pro) This refreshes and returns a cached StatusSignal object. :param refresh: Whether to refresh the StatusSignal before returning it; defaults to true :type refresh: bool :returns: RotorVelocity Status Signal Object :rtype: StatusSignal[rotations_per_second] .. py:method:: get_rotor_position(refresh: bool = True) -> phoenix6.status_signal.StatusSignal[phoenix6.units.rotation] Position of the motor rotor. This position is only affected by the RotorOffset config and calls to setPosition. - Minimum Value: -16384.0 - Maximum Value: 16383.999755859375 - Default Value: 0 - Units: rotations Default Rates: - CAN 2.0: 4.0 Hz - CAN FD: 100.0 Hz (TimeSynced with Pro) This refreshes and returns a cached StatusSignal object. :param refresh: Whether to refresh the StatusSignal before returning it; defaults to true :type refresh: bool :returns: RotorPosition Status Signal Object :rtype: StatusSignal[rotation] .. py:method:: get_velocity(refresh: bool = True) -> phoenix6.status_signal.StatusSignal[phoenix6.units.rotations_per_second] Velocity of the device in mechanism rotations per second. This can be the velocity of a remote sensor and is affected by the RotorToSensorRatio and SensorToMechanismRatio configs. - Minimum Value: -512.0 - Maximum Value: 511.998046875 - Default Value: 0 - Units: rotations per second Default Rates: - CAN 2.0: 50.0 Hz - CAN FD: 100.0 Hz (TimeSynced with Pro) This refreshes and returns a cached StatusSignal object. :param refresh: Whether to refresh the StatusSignal before returning it; defaults to true :type refresh: bool :returns: Velocity Status Signal Object :rtype: StatusSignal[rotations_per_second] .. py:method:: get_position(refresh: bool = True) -> phoenix6.status_signal.StatusSignal[phoenix6.units.rotation] Position of the device in mechanism rotations. This can be the position of a remote sensor and is affected by the RotorToSensorRatio and SensorToMechanismRatio configs, as well as calls to setPosition. - Minimum Value: -16384.0 - Maximum Value: 16383.999755859375 - Default Value: 0 - Units: rotations Default Rates: - CAN 2.0: 50.0 Hz - CAN FD: 100.0 Hz (TimeSynced with Pro) This refreshes and returns a cached StatusSignal object. :param refresh: Whether to refresh the StatusSignal before returning it; defaults to true :type refresh: bool :returns: Position Status Signal Object :rtype: StatusSignal[rotation] .. py:method:: get_acceleration(refresh: bool = True) -> phoenix6.status_signal.StatusSignal[phoenix6.units.rotations_per_second_squared] Acceleration of the device in mechanism rotations per second². This can be the acceleration of a remote sensor and is affected by the RotorToSensorRatio and SensorToMechanismRatio configs. - Minimum Value: -2048.0 - Maximum Value: 2047.75 - Default Value: 0 - Units: rotations per second² Default Rates: - CAN 2.0: 50.0 Hz - CAN FD: 100.0 Hz (TimeSynced with Pro) This refreshes and returns a cached StatusSignal object. :param refresh: Whether to refresh the StatusSignal before returning it; defaults to true :type refresh: bool :returns: Acceleration Status Signal Object :rtype: StatusSignal[rotations_per_second_squared] .. py:method:: get_control_mode(refresh: bool = True) -> phoenix6.status_signal.StatusSignal[phoenix6.signals.spn_enums.ControlModeValue] The active control mode of the motor controller. Default Rates: - CAN 2.0: 4.0 Hz - CAN FD: 100.0 Hz (TimeSynced with Pro) This refreshes and returns a cached StatusSignal object. :param refresh: Whether to refresh the StatusSignal before returning it; defaults to true :type refresh: bool :returns: ControlMode Status Signal Object :rtype: StatusSignal[ControlModeValue] .. py:method:: 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. Default Rates: - CAN 2.0: 4.0 Hz - CAN FD: 100.0 Hz (TimeSynced with Pro) This refreshes and returns a cached StatusSignal object. :param refresh: Whether to refresh the StatusSignal before returning it; defaults to true :type refresh: bool :returns: ExternalMotorTempStatus Status Signal Object :rtype: StatusSignal[ExternalMotorTempStatusValue] .. py:method:: 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: ℃ Default Rates: - CAN 2.0: 4.0 Hz - CAN FD: 100.0 Hz (TimeSynced with Pro) This refreshes and returns a cached StatusSignal object. :param refresh: Whether to refresh the StatusSignal before returning it; defaults to true :type refresh: bool :returns: ExternalMotorTemp Status Signal Object :rtype: StatusSignal[celsius] .. py:method:: get_motion_magic_at_target(refresh: bool = True) -> phoenix6.status_signal.StatusSignal[bool] Check if the Motion Magic® profile has reached the target. This is equivalent to checking that MotionMagicIsRunning, the ClosedLoopReference is the target, and the ClosedLoopReferenceSlope is 0. - Default Value: False Default Rates: - CAN 2.0: 4.0 Hz - CAN FD: 100.0 Hz (TimeSynced with Pro) This refreshes and returns a cached StatusSignal object. :param refresh: Whether to refresh the StatusSignal before returning it; defaults to true :type refresh: bool :returns: MotionMagicAtTarget Status Signal Object :rtype: StatusSignal[bool] .. py:method:: get_motion_magic_is_running(refresh: bool = True) -> phoenix6.status_signal.StatusSignal[bool] Check if Motion Magic® is running. This is equivalent to checking that the reported control mode is a Motion Magic® based mode. - Default Value: False Default Rates: - CAN 2.0: 4.0 Hz - CAN FD: 100.0 Hz (TimeSynced with Pro) This refreshes and returns a cached StatusSignal object. :param refresh: Whether to refresh the StatusSignal before returning it; defaults to true :type refresh: bool :returns: MotionMagicIsRunning Status Signal Object :rtype: StatusSignal[bool] .. py:method:: get_robot_enable(refresh: bool = True) -> phoenix6.status_signal.StatusSignal[phoenix6.signals.spn_enums.RobotEnableValue] Indicates if the robot is enabled. Default Rates: - CAN 2.0: 4.0 Hz - CAN FD: 100.0 Hz (TimeSynced with Pro) This refreshes and returns a cached StatusSignal object. :param refresh: Whether to refresh the StatusSignal before returning it; defaults to true :type refresh: bool :returns: RobotEnable Status Signal Object :rtype: StatusSignal[RobotEnableValue] .. py:method:: get_device_enable(refresh: bool = True) -> phoenix6.status_signal.StatusSignal[phoenix6.signals.spn_enums.DeviceEnableValue] Indicates if device is actuator enabled. Default Rates: - CAN 2.0: 4.0 Hz - CAN FD: 100.0 Hz (TimeSynced with Pro) This refreshes and returns a cached StatusSignal object. :param refresh: Whether to refresh the StatusSignal before returning it; defaults to true :type refresh: bool :returns: DeviceEnable Status Signal Object :rtype: StatusSignal[DeviceEnableValue] .. py:method:: get_closed_loop_slot(refresh: bool = True) -> phoenix6.status_signal.StatusSignal[int] The slot that the closed-loop PID is using. - Minimum Value: 0 - Maximum Value: 2 - Default Value: 0 - Units: Default Rates: - CAN 2.0: 4.0 Hz - CAN FD: 100.0 Hz (TimeSynced with Pro) This refreshes and returns a cached StatusSignal object. :param refresh: Whether to refresh the StatusSignal before returning it; defaults to true :type refresh: bool :returns: ClosedLoopSlot Status Signal Object :rtype: StatusSignal[int] .. py:method:: get_motor_output_status(refresh: bool = True) -> phoenix6.status_signal.StatusSignal[phoenix6.signals.spn_enums.MotorOutputStatusValue] Assess the status of the motor output with respect to load and supply. This routine can be used to determine the general status of motor commutation. Default Rates: - CAN 2.0: 4.0 Hz - CAN FD: 100.0 Hz (TimeSynced with Pro) This refreshes and returns a cached StatusSignal object. :param refresh: Whether to refresh the StatusSignal before returning it; defaults to true :type refresh: bool :returns: MotorOutputStatus Status Signal Object :rtype: StatusSignal[MotorOutputStatusValue] .. py:method:: get_differential_control_mode(refresh: bool = True) -> phoenix6.status_signal.StatusSignal[phoenix6.signals.spn_enums.DifferentialControlModeValue] The active control mode of the differential controller. Default Rates: - CAN 2.0: 100.0 Hz - CAN FD: 100.0 Hz (TimeSynced with Pro) This refreshes and returns a cached StatusSignal object. :param refresh: Whether to refresh the StatusSignal before returning it; defaults to true :type refresh: bool :returns: DifferentialControlMode Status Signal Object :rtype: StatusSignal[DifferentialControlModeValue] .. py:method:: get_differential_average_velocity(refresh: bool = True) -> phoenix6.status_signal.StatusSignal[phoenix6.units.rotations_per_second] Average component of the differential velocity of device. - Minimum Value: -512.0 - Maximum Value: 511.998046875 - Default Value: 0 - Units: rotations per second Default Rates: - CAN 2.0: 4.0 Hz - CAN FD: 100.0 Hz (TimeSynced with Pro) This refreshes and returns a cached StatusSignal object. :param refresh: Whether to refresh the StatusSignal before returning it; defaults to true :type refresh: bool :returns: DifferentialAverageVelocity Status Signal Object :rtype: StatusSignal[rotations_per_second] .. py:method:: get_differential_average_position(refresh: bool = True) -> phoenix6.status_signal.StatusSignal[phoenix6.units.rotation] Average component of the differential position of device. - Minimum Value: -16384.0 - Maximum Value: 16383.999755859375 - Default Value: 0 - Units: rotations Default Rates: - CAN 2.0: 4.0 Hz - CAN FD: 100.0 Hz (TimeSynced with Pro) This refreshes and returns a cached StatusSignal object. :param refresh: Whether to refresh the StatusSignal before returning it; defaults to true :type refresh: bool :returns: DifferentialAveragePosition Status Signal Object :rtype: StatusSignal[rotation] .. py:method:: get_differential_difference_velocity(refresh: bool = True) -> phoenix6.status_signal.StatusSignal[phoenix6.units.rotations_per_second] Difference component of the differential velocity of device. - Minimum Value: -512.0 - Maximum Value: 511.998046875 - Default Value: 0 - Units: rotations per second Default Rates: - CAN 2.0: 4.0 Hz - CAN FD: 100.0 Hz (TimeSynced with Pro) This refreshes and returns a cached StatusSignal object. :param refresh: Whether to refresh the StatusSignal before returning it; defaults to true :type refresh: bool :returns: DifferentialDifferenceVelocity Status Signal Object :rtype: StatusSignal[rotations_per_second] .. py:method:: get_differential_difference_position(refresh: bool = True) -> phoenix6.status_signal.StatusSignal[phoenix6.units.rotation] Difference component of the differential position of device. - Minimum Value: -16384.0 - Maximum Value: 16383.999755859375 - Default Value: 0 - Units: rotations Default Rates: - CAN 2.0: 4.0 Hz - CAN FD: 100.0 Hz (TimeSynced with Pro) This refreshes and returns a cached StatusSignal object. :param refresh: Whether to refresh the StatusSignal before returning it; defaults to true :type refresh: bool :returns: DifferentialDifferencePosition Status Signal Object :rtype: StatusSignal[rotation] .. py:method:: get_differential_closed_loop_slot(refresh: bool = True) -> phoenix6.status_signal.StatusSignal[int] The slot that the closed-loop differential PID is using. - Minimum Value: 0 - Maximum Value: 2 - Default Value: 0 - Units: Default Rates: - CAN 2.0: 4.0 Hz - CAN FD: 100.0 Hz (TimeSynced with Pro) This refreshes and returns a cached StatusSignal object. :param refresh: Whether to refresh the StatusSignal before returning it; defaults to true :type refresh: bool :returns: DifferentialClosedLoopSlot Status Signal Object :rtype: StatusSignal[int] .. py:method:: get_motor_kt(refresh: bool = True) -> phoenix6.status_signal.StatusSignal[phoenix6.units.newton_meters_per_ampere] The torque constant (K_T) of the motor. - Minimum Value: 0.0 - Maximum Value: 0.025500000000000002 - Default Value: 0 - Units: Nm/A Default Rates: - CAN: 4.0 Hz This refreshes and returns a cached StatusSignal object. :param refresh: Whether to refresh the StatusSignal before returning it; defaults to true :type refresh: bool :returns: MotorKT Status Signal Object :rtype: StatusSignal[newton_meters_per_ampere] .. py:method:: get_motor_kv(refresh: bool = True) -> phoenix6.status_signal.StatusSignal[phoenix6.units.rpm_per_volt] The velocity constant (K_V) of the motor. - Minimum Value: 0.0 - Maximum Value: 2047.0 - Default Value: 0 - Units: RPM/V Default Rates: - CAN: 4.0 Hz This refreshes and returns a cached StatusSignal object. :param refresh: Whether to refresh the StatusSignal before returning it; defaults to true :type refresh: bool :returns: MotorKV Status Signal Object :rtype: StatusSignal[rpm_per_volt] .. py:method:: get_motor_stall_current(refresh: bool = True) -> phoenix6.status_signal.StatusSignal[phoenix6.units.ampere] The stall current of the motor at 12 V output. - Minimum Value: 0.0 - Maximum Value: 1023.0 - Default Value: 0 - Units: A Default Rates: - CAN: 4.0 Hz This refreshes and returns a cached StatusSignal object. :param refresh: Whether to refresh the StatusSignal before returning it; defaults to true :type refresh: bool :returns: MotorStallCurrent Status Signal Object :rtype: StatusSignal[ampere] .. py:method:: get_bridge_output(refresh: bool = True) -> phoenix6.status_signal.StatusSignal[phoenix6.signals.spn_enums.BridgeOutputValue] The applied output of the bridge. Default Rates: - CAN 2.0: 100.0 Hz - CAN FD: 100.0 Hz (TimeSynced with Pro) This refreshes and returns a cached StatusSignal object. :param refresh: Whether to refresh the StatusSignal before returning it; defaults to true :type refresh: bool :returns: BridgeOutput Status Signal Object :rtype: StatusSignal[BridgeOutputValue] .. py:method:: get_is_pro_licensed(refresh: bool = True) -> phoenix6.status_signal.StatusSignal[bool] Whether the device is Phoenix Pro licensed. - Default Value: False Default Rates: - CAN: 4.0 Hz This refreshes and returns a cached StatusSignal object. :param refresh: Whether to refresh the StatusSignal before returning it; defaults to true :type refresh: bool :returns: IsProLicensed Status Signal Object :rtype: StatusSignal[bool] .. py:method:: get_ancillary_device_temp(refresh: bool = True) -> phoenix6.status_signal.StatusSignal[phoenix6.units.celsius] Temperature of device from second sensor. Newer versions of Talon have multiple temperature measurement methods. - Minimum Value: 0.0 - Maximum Value: 255.0 - Default Value: 0 - Units: ℃ Default Rates: - CAN 2.0: 4.0 Hz - CAN FD: 100.0 Hz (TimeSynced with Pro) This refreshes and returns a cached StatusSignal object. :param refresh: Whether to refresh the StatusSignal before returning it; defaults to true :type refresh: bool :returns: AncillaryDeviceTemp Status Signal Object :rtype: StatusSignal[celsius] .. py:method:: get_connected_motor(refresh: bool = True) -> phoenix6.status_signal.StatusSignal[phoenix6.signals.spn_enums.ConnectedMotorValue] The type of motor attached to the Talon. This can be used to determine what motor is attached to the Talon FX. Return will be "Unknown" if firmware is too old or device is not present. Default Rates: - CAN 2.0: 4.0 Hz - CAN FD: 100.0 Hz (TimeSynced with Pro) This refreshes and returns a cached StatusSignal object. :param refresh: Whether to refresh the StatusSignal before returning it; defaults to true :type refresh: bool :returns: ConnectedMotor Status Signal Object :rtype: StatusSignal[ConnectedMotorValue] .. py:method:: 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 Default Rates: - CAN: 4.0 Hz This refreshes and returns a cached StatusSignal object. :param refresh: Whether to refresh the StatusSignal before returning it; defaults to true :type refresh: bool :returns: FiveVRailVoltage Status Signal Object :rtype: StatusSignal[volt] .. py:method:: get_analog_voltage(refresh: bool = True) -> phoenix6.status_signal.StatusSignal[phoenix6.units.volt] The voltage of the analog pin (pin 3) of the Talon FXS data port. The analog pin reads a nominal voltage of 0-5V. - Minimum Value: 0 - Maximum Value: 6 - Default Value: 0 - Units: Volts Default Rates: - CAN: 4.0 Hz This refreshes and returns a cached StatusSignal object. :param refresh: Whether to refresh the StatusSignal before returning it; defaults to true :type refresh: bool :returns: AnalogVoltage Status Signal Object :rtype: StatusSignal[volt] .. py:method:: 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 Default Rates: - CAN: 0.0 Hz This refreshes and returns a cached StatusSignal object. :param refresh: Whether to refresh the StatusSignal before returning it; defaults to true :type refresh: bool :returns: RawQuadraturePosition Status Signal Object :rtype: StatusSignal[rotation] .. py:method:: 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 Default Rates: - CAN: 0.0 Hz This refreshes and returns a cached StatusSignal object. :param refresh: Whether to refresh the StatusSignal before returning it; defaults to true :type refresh: bool :returns: RawQuadratureVelocity Status Signal Object :rtype: StatusSignal[rotations_per_second] .. py:method:: 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 Default Rates: - CAN: 0.0 Hz This refreshes and returns a cached StatusSignal object. :param refresh: Whether to refresh the StatusSignal before returning it; defaults to true :type refresh: bool :returns: RawPulseWidthPosition Status Signal Object :rtype: StatusSignal[rotation] .. py:method:: 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 Default Rates: - CAN: 0.0 Hz This refreshes and returns a cached StatusSignal object. :param refresh: Whether to refresh the StatusSignal before returning it; defaults to true :type refresh: bool :returns: RawPulseWidthVelocity Status Signal Object :rtype: StatusSignal[rotations_per_second] .. py:method:: get_fault_hardware(refresh: bool = True) -> phoenix6.status_signal.StatusSignal[bool] Hardware fault occurred - Default Value: False Default Rates: - CAN: 4.0 Hz This refreshes and returns a cached StatusSignal object. :param refresh: Whether to refresh the StatusSignal before returning it; defaults to true :type refresh: bool :returns: Fault_Hardware Status Signal Object :rtype: StatusSignal[bool] .. py:method:: get_sticky_fault_hardware(refresh: bool = True) -> phoenix6.status_signal.StatusSignal[bool] Hardware fault occurred - Default Value: False Default Rates: - CAN: 4.0 Hz This refreshes and returns a cached StatusSignal object. :param refresh: Whether to refresh the StatusSignal before returning it; defaults to true :type refresh: bool :returns: StickyFault_Hardware Status Signal Object :rtype: StatusSignal[bool] .. py:method:: get_fault_proc_temp(refresh: bool = True) -> phoenix6.status_signal.StatusSignal[bool] Processor temperature exceeded limit - Default Value: False Default Rates: - CAN: 4.0 Hz This refreshes and returns a cached StatusSignal object. :param refresh: Whether to refresh the StatusSignal before returning it; defaults to true :type refresh: bool :returns: Fault_ProcTemp Status Signal Object :rtype: StatusSignal[bool] .. py:method:: get_sticky_fault_proc_temp(refresh: bool = True) -> phoenix6.status_signal.StatusSignal[bool] Processor temperature exceeded limit - Default Value: False Default Rates: - CAN: 4.0 Hz This refreshes and returns a cached StatusSignal object. :param refresh: Whether to refresh the StatusSignal before returning it; defaults to true :type refresh: bool :returns: StickyFault_ProcTemp Status Signal Object :rtype: StatusSignal[bool] .. py:method:: get_fault_device_temp(refresh: bool = True) -> phoenix6.status_signal.StatusSignal[bool] Device temperature exceeded limit - Default Value: False Default Rates: - CAN: 4.0 Hz This refreshes and returns a cached StatusSignal object. :param refresh: Whether to refresh the StatusSignal before returning it; defaults to true :type refresh: bool :returns: Fault_DeviceTemp Status Signal Object :rtype: StatusSignal[bool] .. py:method:: get_sticky_fault_device_temp(refresh: bool = True) -> phoenix6.status_signal.StatusSignal[bool] Device temperature exceeded limit - Default Value: False Default Rates: - CAN: 4.0 Hz This refreshes and returns a cached StatusSignal object. :param refresh: Whether to refresh the StatusSignal before returning it; defaults to true :type refresh: bool :returns: StickyFault_DeviceTemp Status Signal Object :rtype: StatusSignal[bool] .. py:method:: get_fault_undervoltage(refresh: bool = True) -> phoenix6.status_signal.StatusSignal[bool] Device supply voltage dropped to near brownout levels - Default Value: False Default Rates: - CAN: 4.0 Hz This refreshes and returns a cached StatusSignal object. :param refresh: Whether to refresh the StatusSignal before returning it; defaults to true :type refresh: bool :returns: Fault_Undervoltage Status Signal Object :rtype: StatusSignal[bool] .. py:method:: get_sticky_fault_undervoltage(refresh: bool = True) -> phoenix6.status_signal.StatusSignal[bool] Device supply voltage dropped to near brownout levels - Default Value: False Default Rates: - CAN: 4.0 Hz This refreshes and returns a cached StatusSignal object. :param refresh: Whether to refresh the StatusSignal before returning it; defaults to true :type refresh: bool :returns: StickyFault_Undervoltage Status Signal Object :rtype: StatusSignal[bool] .. py:method:: get_fault_boot_during_enable(refresh: bool = True) -> phoenix6.status_signal.StatusSignal[bool] Device boot while detecting the enable signal - Default Value: False Default Rates: - CAN: 4.0 Hz This refreshes and returns a cached StatusSignal object. :param refresh: Whether to refresh the StatusSignal before returning it; defaults to true :type refresh: bool :returns: Fault_BootDuringEnable Status Signal Object :rtype: StatusSignal[bool] .. py:method:: get_sticky_fault_boot_during_enable(refresh: bool = True) -> phoenix6.status_signal.StatusSignal[bool] Device boot while detecting the enable signal - Default Value: False Default Rates: - CAN: 4.0 Hz This refreshes and returns a cached StatusSignal object. :param refresh: Whether to refresh the StatusSignal before returning it; defaults to true :type refresh: bool :returns: StickyFault_BootDuringEnable Status Signal Object :rtype: StatusSignal[bool] .. py:method:: get_fault_unlicensed_feature_in_use(refresh: bool = True) -> phoenix6.status_signal.StatusSignal[bool] An unlicensed feature is in use, device may not behave as expected. - Default Value: False Default Rates: - CAN: 4.0 Hz This refreshes and returns a cached StatusSignal object. :param refresh: Whether to refresh the StatusSignal before returning it; defaults to true :type refresh: bool :returns: Fault_UnlicensedFeatureInUse Status Signal Object :rtype: StatusSignal[bool] .. py:method:: get_sticky_fault_unlicensed_feature_in_use(refresh: bool = True) -> phoenix6.status_signal.StatusSignal[bool] An unlicensed feature is in use, device may not behave as expected. - Default Value: False Default Rates: - CAN: 4.0 Hz This refreshes and returns a cached StatusSignal object. :param refresh: Whether to refresh the StatusSignal before returning it; defaults to true :type refresh: bool :returns: StickyFault_UnlicensedFeatureInUse Status Signal Object :rtype: StatusSignal[bool] .. py:method:: get_fault_bridge_brownout(refresh: bool = True) -> phoenix6.status_signal.StatusSignal[bool] Bridge was disabled most likely due to supply voltage dropping too low. - Default Value: False Default Rates: - CAN: 4.0 Hz This refreshes and returns a cached StatusSignal object. :param refresh: Whether to refresh the StatusSignal before returning it; defaults to true :type refresh: bool :returns: Fault_BridgeBrownout Status Signal Object :rtype: StatusSignal[bool] .. py:method:: get_sticky_fault_bridge_brownout(refresh: bool = True) -> phoenix6.status_signal.StatusSignal[bool] Bridge was disabled most likely due to supply voltage dropping too low. - Default Value: False Default Rates: - CAN: 4.0 Hz This refreshes and returns a cached StatusSignal object. :param refresh: Whether to refresh the StatusSignal before returning it; defaults to true :type refresh: bool :returns: StickyFault_BridgeBrownout Status Signal Object :rtype: StatusSignal[bool] .. py:method:: get_fault_remote_sensor_reset(refresh: bool = True) -> phoenix6.status_signal.StatusSignal[bool] The remote sensor has reset. - Default Value: False Default Rates: - CAN: 4.0 Hz This refreshes and returns a cached StatusSignal object. :param refresh: Whether to refresh the StatusSignal before returning it; defaults to true :type refresh: bool :returns: Fault_RemoteSensorReset Status Signal Object :rtype: StatusSignal[bool] .. py:method:: get_sticky_fault_remote_sensor_reset(refresh: bool = True) -> phoenix6.status_signal.StatusSignal[bool] The remote sensor has reset. - Default Value: False Default Rates: - CAN: 4.0 Hz This refreshes and returns a cached StatusSignal object. :param refresh: Whether to refresh the StatusSignal before returning it; defaults to true :type refresh: bool :returns: StickyFault_RemoteSensorReset Status Signal Object :rtype: StatusSignal[bool] .. py:method:: get_fault_missing_differential_fx(refresh: bool = True) -> phoenix6.status_signal.StatusSignal[bool] The remote Talon used for differential control is not present on CAN Bus. - Default Value: False Default Rates: - CAN: 4.0 Hz This refreshes and returns a cached StatusSignal object. :param refresh: Whether to refresh the StatusSignal before returning it; defaults to true :type refresh: bool :returns: Fault_MissingDifferentialFX Status Signal Object :rtype: StatusSignal[bool] .. py:method:: get_sticky_fault_missing_differential_fx(refresh: bool = True) -> phoenix6.status_signal.StatusSignal[bool] The remote Talon used for differential control is not present on CAN Bus. - Default Value: False Default Rates: - CAN: 4.0 Hz This refreshes and returns a cached StatusSignal object. :param refresh: Whether to refresh the StatusSignal before returning it; defaults to true :type refresh: bool :returns: StickyFault_MissingDifferentialFX Status Signal Object :rtype: StatusSignal[bool] .. py:method:: get_fault_remote_sensor_pos_overflow(refresh: bool = True) -> phoenix6.status_signal.StatusSignal[bool] The remote sensor position has overflowed. Because of the nature of remote sensors, it is possible for the remote sensor position to overflow beyond what is supported by the status signal frame. However, this is rare and cannot occur over the course of an FRC match under normal use. - Default Value: False Default Rates: - CAN: 4.0 Hz This refreshes and returns a cached StatusSignal object. :param refresh: Whether to refresh the StatusSignal before returning it; defaults to true :type refresh: bool :returns: Fault_RemoteSensorPosOverflow Status Signal Object :rtype: StatusSignal[bool] .. py:method:: get_sticky_fault_remote_sensor_pos_overflow(refresh: bool = True) -> phoenix6.status_signal.StatusSignal[bool] The remote sensor position has overflowed. Because of the nature of remote sensors, it is possible for the remote sensor position to overflow beyond what is supported by the status signal frame. However, this is rare and cannot occur over the course of an FRC match under normal use. - Default Value: False Default Rates: - CAN: 4.0 Hz This refreshes and returns a cached StatusSignal object. :param refresh: Whether to refresh the StatusSignal before returning it; defaults to true :type refresh: bool :returns: StickyFault_RemoteSensorPosOverflow Status Signal Object :rtype: StatusSignal[bool] .. py:method:: get_fault_over_supply_v(refresh: bool = True) -> phoenix6.status_signal.StatusSignal[bool] Supply Voltage has exceeded the maximum voltage rating of device. - Default Value: False Default Rates: - CAN: 4.0 Hz This refreshes and returns a cached StatusSignal object. :param refresh: Whether to refresh the StatusSignal before returning it; defaults to true :type refresh: bool :returns: Fault_OverSupplyV Status Signal Object :rtype: StatusSignal[bool] .. py:method:: get_sticky_fault_over_supply_v(refresh: bool = True) -> phoenix6.status_signal.StatusSignal[bool] Supply Voltage has exceeded the maximum voltage rating of device. - Default Value: False Default Rates: - CAN: 4.0 Hz This refreshes and returns a cached StatusSignal object. :param refresh: Whether to refresh the StatusSignal before returning it; defaults to true :type refresh: bool :returns: StickyFault_OverSupplyV Status Signal Object :rtype: StatusSignal[bool] .. py:method:: get_fault_unstable_supply_v(refresh: bool = True) -> phoenix6.status_signal.StatusSignal[bool] Supply Voltage is unstable. Ensure you are using a battery and current limited power supply. - Default Value: False Default Rates: - CAN: 4.0 Hz This refreshes and returns a cached StatusSignal object. :param refresh: Whether to refresh the StatusSignal before returning it; defaults to true :type refresh: bool :returns: Fault_UnstableSupplyV Status Signal Object :rtype: StatusSignal[bool] .. py:method:: get_sticky_fault_unstable_supply_v(refresh: bool = True) -> phoenix6.status_signal.StatusSignal[bool] Supply Voltage is unstable. Ensure you are using a battery and current limited power supply. - Default Value: False Default Rates: - CAN: 4.0 Hz This refreshes and returns a cached StatusSignal object. :param refresh: Whether to refresh the StatusSignal before returning it; defaults to true :type refresh: bool :returns: StickyFault_UnstableSupplyV Status Signal Object :rtype: StatusSignal[bool] .. py:method:: get_fault_reverse_hard_limit(refresh: bool = True) -> phoenix6.status_signal.StatusSignal[bool] Reverse limit switch has been asserted. Output is set to neutral. - Default Value: False Default Rates: - CAN: 4.0 Hz This refreshes and returns a cached StatusSignal object. :param refresh: Whether to refresh the StatusSignal before returning it; defaults to true :type refresh: bool :returns: Fault_ReverseHardLimit Status Signal Object :rtype: StatusSignal[bool] .. py:method:: get_sticky_fault_reverse_hard_limit(refresh: bool = True) -> phoenix6.status_signal.StatusSignal[bool] Reverse limit switch has been asserted. Output is set to neutral. - Default Value: False Default Rates: - CAN: 4.0 Hz This refreshes and returns a cached StatusSignal object. :param refresh: Whether to refresh the StatusSignal before returning it; defaults to true :type refresh: bool :returns: StickyFault_ReverseHardLimit Status Signal Object :rtype: StatusSignal[bool] .. py:method:: get_fault_forward_hard_limit(refresh: bool = True) -> phoenix6.status_signal.StatusSignal[bool] Forward limit switch has been asserted. Output is set to neutral. - Default Value: False Default Rates: - CAN: 4.0 Hz This refreshes and returns a cached StatusSignal object. :param refresh: Whether to refresh the StatusSignal before returning it; defaults to true :type refresh: bool :returns: Fault_ForwardHardLimit Status Signal Object :rtype: StatusSignal[bool] .. py:method:: get_sticky_fault_forward_hard_limit(refresh: bool = True) -> phoenix6.status_signal.StatusSignal[bool] Forward limit switch has been asserted. Output is set to neutral. - Default Value: False Default Rates: - CAN: 4.0 Hz This refreshes and returns a cached StatusSignal object. :param refresh: Whether to refresh the StatusSignal before returning it; defaults to true :type refresh: bool :returns: StickyFault_ForwardHardLimit Status Signal Object :rtype: StatusSignal[bool] .. py:method:: get_fault_reverse_soft_limit(refresh: bool = True) -> phoenix6.status_signal.StatusSignal[bool] Reverse soft limit has been asserted. Output is set to neutral. - Default Value: False Default Rates: - CAN: 4.0 Hz This refreshes and returns a cached StatusSignal object. :param refresh: Whether to refresh the StatusSignal before returning it; defaults to true :type refresh: bool :returns: Fault_ReverseSoftLimit Status Signal Object :rtype: StatusSignal[bool] .. py:method:: get_sticky_fault_reverse_soft_limit(refresh: bool = True) -> phoenix6.status_signal.StatusSignal[bool] Reverse soft limit has been asserted. Output is set to neutral. - Default Value: False Default Rates: - CAN: 4.0 Hz This refreshes and returns a cached StatusSignal object. :param refresh: Whether to refresh the StatusSignal before returning it; defaults to true :type refresh: bool :returns: StickyFault_ReverseSoftLimit Status Signal Object :rtype: StatusSignal[bool] .. py:method:: get_fault_forward_soft_limit(refresh: bool = True) -> phoenix6.status_signal.StatusSignal[bool] Forward soft limit has been asserted. Output is set to neutral. - Default Value: False Default Rates: - CAN: 4.0 Hz This refreshes and returns a cached StatusSignal object. :param refresh: Whether to refresh the StatusSignal before returning it; defaults to true :type refresh: bool :returns: Fault_ForwardSoftLimit Status Signal Object :rtype: StatusSignal[bool] .. py:method:: get_sticky_fault_forward_soft_limit(refresh: bool = True) -> phoenix6.status_signal.StatusSignal[bool] Forward soft limit has been asserted. Output is set to neutral. - Default Value: False Default Rates: - CAN: 4.0 Hz This refreshes and returns a cached StatusSignal object. :param refresh: Whether to refresh the StatusSignal before returning it; defaults to true :type refresh: bool :returns: StickyFault_ForwardSoftLimit Status Signal Object :rtype: StatusSignal[bool] .. py:method:: get_fault_missing_soft_limit_remote(refresh: bool = True) -> phoenix6.status_signal.StatusSignal[bool] The remote soft limit device is not present on CAN Bus. - Default Value: False Default Rates: - CAN: 4.0 Hz This refreshes and returns a cached StatusSignal object. :param refresh: Whether to refresh the StatusSignal before returning it; defaults to true :type refresh: bool :returns: Fault_MissingSoftLimitRemote Status Signal Object :rtype: StatusSignal[bool] .. py:method:: get_sticky_fault_missing_soft_limit_remote(refresh: bool = True) -> phoenix6.status_signal.StatusSignal[bool] The remote soft limit device is not present on CAN Bus. - Default Value: False Default Rates: - CAN: 4.0 Hz This refreshes and returns a cached StatusSignal object. :param refresh: Whether to refresh the StatusSignal before returning it; defaults to true :type refresh: bool :returns: StickyFault_MissingSoftLimitRemote Status Signal Object :rtype: StatusSignal[bool] .. py:method:: get_fault_missing_hard_limit_remote(refresh: bool = True) -> phoenix6.status_signal.StatusSignal[bool] The remote limit switch device is not present on CAN Bus. - Default Value: False Default Rates: - CAN: 4.0 Hz This refreshes and returns a cached StatusSignal object. :param refresh: Whether to refresh the StatusSignal before returning it; defaults to true :type refresh: bool :returns: Fault_MissingHardLimitRemote Status Signal Object :rtype: StatusSignal[bool] .. py:method:: get_sticky_fault_missing_hard_limit_remote(refresh: bool = True) -> phoenix6.status_signal.StatusSignal[bool] The remote limit switch device is not present on CAN Bus. - Default Value: False Default Rates: - CAN: 4.0 Hz This refreshes and returns a cached StatusSignal object. :param refresh: Whether to refresh the StatusSignal before returning it; defaults to true :type refresh: bool :returns: StickyFault_MissingHardLimitRemote Status Signal Object :rtype: StatusSignal[bool] .. py:method:: get_fault_remote_sensor_data_invalid(refresh: bool = True) -> phoenix6.status_signal.StatusSignal[bool] The remote sensor's data is no longer trusted. This can happen if the remote sensor disappears from the CAN bus or if the remote sensor indicates its data is no longer valid, such as when a CANcoder's magnet strength falls into the "red" range. - Default Value: False Default Rates: - CAN: 4.0 Hz This refreshes and returns a cached StatusSignal object. :param refresh: Whether to refresh the StatusSignal before returning it; defaults to true :type refresh: bool :returns: Fault_RemoteSensorDataInvalid Status Signal Object :rtype: StatusSignal[bool] .. py:method:: get_sticky_fault_remote_sensor_data_invalid(refresh: bool = True) -> phoenix6.status_signal.StatusSignal[bool] The remote sensor's data is no longer trusted. This can happen if the remote sensor disappears from the CAN bus or if the remote sensor indicates its data is no longer valid, such as when a CANcoder's magnet strength falls into the "red" range. - Default Value: False Default Rates: - CAN: 4.0 Hz This refreshes and returns a cached StatusSignal object. :param refresh: Whether to refresh the StatusSignal before returning it; defaults to true :type refresh: bool :returns: StickyFault_RemoteSensorDataInvalid Status Signal Object :rtype: StatusSignal[bool] .. py:method:: get_fault_fused_sensor_out_of_sync(refresh: bool = True) -> phoenix6.status_signal.StatusSignal[bool] The remote sensor used for fusion has fallen out of sync to the local sensor. A re-synchronization has occurred, which may cause a discontinuity. This typically happens if there is significant slop in the mechanism, or if the RotorToSensorRatio configuration parameter is incorrect. - Default Value: False Default Rates: - CAN: 4.0 Hz This refreshes and returns a cached StatusSignal object. :param refresh: Whether to refresh the StatusSignal before returning it; defaults to true :type refresh: bool :returns: Fault_FusedSensorOutOfSync Status Signal Object :rtype: StatusSignal[bool] .. py:method:: get_sticky_fault_fused_sensor_out_of_sync(refresh: bool = True) -> phoenix6.status_signal.StatusSignal[bool] The remote sensor used for fusion has fallen out of sync to the local sensor. A re-synchronization has occurred, which may cause a discontinuity. This typically happens if there is significant slop in the mechanism, or if the RotorToSensorRatio configuration parameter is incorrect. - Default Value: False Default Rates: - CAN: 4.0 Hz This refreshes and returns a cached StatusSignal object. :param refresh: Whether to refresh the StatusSignal before returning it; defaults to true :type refresh: bool :returns: StickyFault_FusedSensorOutOfSync Status Signal Object :rtype: StatusSignal[bool] .. py:method:: get_fault_stator_curr_limit(refresh: bool = True) -> phoenix6.status_signal.StatusSignal[bool] Stator current limit occured. - Default Value: False Default Rates: - CAN: 4.0 Hz This refreshes and returns a cached StatusSignal object. :param refresh: Whether to refresh the StatusSignal before returning it; defaults to true :type refresh: bool :returns: Fault_StatorCurrLimit Status Signal Object :rtype: StatusSignal[bool] .. py:method:: get_sticky_fault_stator_curr_limit(refresh: bool = True) -> phoenix6.status_signal.StatusSignal[bool] Stator current limit occured. - Default Value: False Default Rates: - CAN: 4.0 Hz This refreshes and returns a cached StatusSignal object. :param refresh: Whether to refresh the StatusSignal before returning it; defaults to true :type refresh: bool :returns: StickyFault_StatorCurrLimit Status Signal Object :rtype: StatusSignal[bool] .. py:method:: get_fault_supply_curr_limit(refresh: bool = True) -> phoenix6.status_signal.StatusSignal[bool] Supply current limit occured. - Default Value: False Default Rates: - CAN: 4.0 Hz This refreshes and returns a cached StatusSignal object. :param refresh: Whether to refresh the StatusSignal before returning it; defaults to true :type refresh: bool :returns: Fault_SupplyCurrLimit Status Signal Object :rtype: StatusSignal[bool] .. py:method:: get_sticky_fault_supply_curr_limit(refresh: bool = True) -> phoenix6.status_signal.StatusSignal[bool] Supply current limit occured. - Default Value: False Default Rates: - CAN: 4.0 Hz This refreshes and returns a cached StatusSignal object. :param refresh: Whether to refresh the StatusSignal before returning it; defaults to true :type refresh: bool :returns: StickyFault_SupplyCurrLimit Status Signal Object :rtype: StatusSignal[bool] .. py:method:: get_fault_using_fused_cancoder_while_unlicensed(refresh: bool = True) -> phoenix6.status_signal.StatusSignal[bool] Using Fused CANcoder feature while unlicensed. Device has fallen back to remote CANcoder. - Default Value: False Default Rates: - CAN: 4.0 Hz This refreshes and returns a cached StatusSignal object. :param refresh: Whether to refresh the StatusSignal before returning it; defaults to true :type refresh: bool :returns: Fault_UsingFusedCANcoderWhileUnlicensed Status Signal Object :rtype: StatusSignal[bool] .. py:method:: get_sticky_fault_using_fused_cancoder_while_unlicensed(refresh: bool = True) -> phoenix6.status_signal.StatusSignal[bool] Using Fused CANcoder feature while unlicensed. Device has fallen back to remote CANcoder. - Default Value: False Default Rates: - CAN: 4.0 Hz This refreshes and returns a cached StatusSignal object. :param refresh: Whether to refresh the StatusSignal before returning it; defaults to true :type refresh: bool :returns: StickyFault_UsingFusedCANcoderWhileUnlicensed Status Signal Object :rtype: StatusSignal[bool] .. py:method:: get_fault_static_brake_disabled(refresh: bool = True) -> phoenix6.status_signal.StatusSignal[bool] Static brake was momentarily disabled due to excessive braking current while disabled. - Default Value: False Default Rates: - CAN: 4.0 Hz This refreshes and returns a cached StatusSignal object. :param refresh: Whether to refresh the StatusSignal before returning it; defaults to true :type refresh: bool :returns: Fault_StaticBrakeDisabled Status Signal Object :rtype: StatusSignal[bool] .. py:method:: get_sticky_fault_static_brake_disabled(refresh: bool = True) -> phoenix6.status_signal.StatusSignal[bool] Static brake was momentarily disabled due to excessive braking current while disabled. - Default Value: False Default Rates: - CAN: 4.0 Hz This refreshes and returns a cached StatusSignal object. :param refresh: Whether to refresh the StatusSignal before returning it; defaults to true :type refresh: bool :returns: StickyFault_StaticBrakeDisabled Status Signal Object :rtype: StatusSignal[bool] .. py:method:: 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 Default Rates: - CAN: 4.0 Hz This refreshes and returns a cached StatusSignal object. :param refresh: Whether to refresh the StatusSignal before returning it; defaults to true :type refresh: bool :returns: Fault_BridgeShort Status Signal Object :rtype: StatusSignal[bool] .. py:method:: 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 Default Rates: - CAN: 4.0 Hz This refreshes and returns a cached StatusSignal object. :param refresh: Whether to refresh the StatusSignal before returning it; defaults to true :type refresh: bool :returns: StickyFault_BridgeShort Status Signal Object :rtype: StatusSignal[bool] .. py:method:: 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 Default Rates: - CAN: 4.0 Hz This refreshes and returns a cached StatusSignal object. :param refresh: Whether to refresh the StatusSignal before returning it; defaults to true :type refresh: bool :returns: Fault_HallSensorMissing Status Signal Object :rtype: StatusSignal[bool] .. py:method:: 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 Default Rates: - CAN: 4.0 Hz This refreshes and returns a cached StatusSignal object. :param refresh: Whether to refresh the StatusSignal before returning it; defaults to true :type refresh: bool :returns: StickyFault_HallSensorMissing Status Signal Object :rtype: StatusSignal[bool] .. py:method:: 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 Default Rates: - CAN: 4.0 Hz This refreshes and returns a cached StatusSignal object. :param refresh: Whether to refresh the StatusSignal before returning it; defaults to true :type refresh: bool :returns: Fault_DriveDisabledHallSensor Status Signal Object :rtype: StatusSignal[bool] .. py:method:: 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 Default Rates: - CAN: 4.0 Hz This refreshes and returns a cached StatusSignal object. :param refresh: Whether to refresh the StatusSignal before returning it; defaults to true :type refresh: bool :returns: StickyFault_DriveDisabledHallSensor Status Signal Object :rtype: StatusSignal[bool] .. py:method:: 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 Default Rates: - CAN: 4.0 Hz This refreshes and returns a cached StatusSignal object. :param refresh: Whether to refresh the StatusSignal before returning it; defaults to true :type refresh: bool :returns: Fault_MotorTempSensorMissing Status Signal Object :rtype: StatusSignal[bool] .. py:method:: 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 Default Rates: - CAN: 4.0 Hz This refreshes and returns a cached StatusSignal object. :param refresh: Whether to refresh the StatusSignal before returning it; defaults to true :type refresh: bool :returns: StickyFault_MotorTempSensorMissing Status Signal Object :rtype: StatusSignal[bool] .. py:method:: 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 Default Rates: - CAN: 4.0 Hz This refreshes and returns a cached StatusSignal object. :param refresh: Whether to refresh the StatusSignal before returning it; defaults to true :type refresh: bool :returns: Fault_MotorTempSensorTooHot Status Signal Object :rtype: StatusSignal[bool] .. py:method:: 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 Default Rates: - CAN: 4.0 Hz This refreshes and returns a cached StatusSignal object. :param refresh: Whether to refresh the StatusSignal before returning it; defaults to true :type refresh: bool :returns: StickyFault_MotorTempSensorTooHot Status Signal Object :rtype: StatusSignal[bool] .. py:method:: get_fault_motor_arrangement_not_selected(refresh: bool = True) -> phoenix6.status_signal.StatusSignal[bool] Motor arrangement has not been set in configuration. - Default Value: False Default Rates: - CAN: 4.0 Hz This refreshes and returns a cached StatusSignal object. :param refresh: Whether to refresh the StatusSignal before returning it; defaults to true :type refresh: bool :returns: Fault_MotorArrangementNotSelected Status Signal Object :rtype: StatusSignal[bool] .. py:method:: get_sticky_fault_motor_arrangement_not_selected(refresh: bool = True) -> phoenix6.status_signal.StatusSignal[bool] Motor arrangement has not been set in configuration. - Default Value: False Default Rates: - CAN: 4.0 Hz This refreshes and returns a cached StatusSignal object. :param refresh: Whether to refresh the StatusSignal before returning it; defaults to true :type refresh: bool :returns: StickyFault_MotorArrangementNotSelected Status Signal Object :rtype: StatusSignal[bool] .. py:method:: get_fault_5_v(refresh: bool = True) -> phoenix6.status_signal.StatusSignal[bool] The CTR Electronics' TalonFX device has detected a 5V fault. This may be due to overcurrent or a short-circuit. - Default Value: False Default Rates: - CAN: 4.0 Hz This refreshes and returns a cached StatusSignal object. :param refresh: Whether to refresh the StatusSignal before returning it; defaults to true :type refresh: bool :returns: Fault_5V Status Signal Object :rtype: StatusSignal[bool] .. py:method:: get_sticky_fault_5_v(refresh: bool = True) -> phoenix6.status_signal.StatusSignal[bool] The CTR Electronics' TalonFX device has detected a 5V fault. This may be due to overcurrent or a short-circuit. - Default Value: False Default Rates: - CAN: 4.0 Hz This refreshes and returns a cached StatusSignal object. :param refresh: Whether to refresh the StatusSignal before returning it; defaults to true :type refresh: bool :returns: StickyFault_5V Status Signal Object :rtype: StatusSignal[bool] .. py:method:: get_closed_loop_proportional_output(refresh: bool = True) -> phoenix6.status_signal.StatusSignal[float] Closed loop proportional component. The portion of the closed loop output that is proportional to the error. Alternatively, the kP contribution of the closed loop output. When using differential control, this applies to the average axis. Default Rates: - CAN 2.0: 4.0 Hz - CAN FD: 100.0 Hz (TimeSynced with Pro) This refreshes and returns a cached StatusSignal object. :param refresh: Whether to refresh the StatusSignal before returning it; defaults to true :type refresh: bool :returns: ClosedLoopProportionalOutput Status Signal object :rtype: StatusSignal[float] .. py:method:: get_closed_loop_integrated_output(refresh: bool = True) -> phoenix6.status_signal.StatusSignal[float] Closed loop integrated component. The portion of the closed loop output that is proportional to the integrated error. Alternatively, the kI contribution of the closed loop output. When using differential control, this applies to the average axis. Default Rates: - CAN 2.0: 4.0 Hz - CAN FD: 100.0 Hz (TimeSynced with Pro) This refreshes and returns a cached StatusSignal object. :param refresh: Whether to refresh the StatusSignal before returning it; defaults to true :type refresh: bool :returns: ClosedLoopIntegratedOutput Status Signal object :rtype: StatusSignal[float] .. py:method:: get_closed_loop_feed_forward(refresh: bool = True) -> phoenix6.status_signal.StatusSignal[float] Feedforward passed by the user. This is the general feedforward that the user provides for the closed loop. When using differential control, this applies to the average axis. Default Rates: - CAN 2.0: 4.0 Hz - CAN FD: 100.0 Hz (TimeSynced with Pro) This refreshes and returns a cached StatusSignal object. :param refresh: Whether to refresh the StatusSignal before returning it; defaults to true :type refresh: bool :returns: ClosedLoopFeedForward Status Signal object :rtype: StatusSignal[float] .. py:method:: get_closed_loop_derivative_output(refresh: bool = True) -> phoenix6.status_signal.StatusSignal[float] Closed loop derivative component. The portion of the closed loop output that is proportional to the deriviative of error. Alternatively, the kD contribution of the closed loop output. When using differential control, this applies to the average axis. Default Rates: - CAN 2.0: 4.0 Hz - CAN FD: 100.0 Hz (TimeSynced with Pro) This refreshes and returns a cached StatusSignal object. :param refresh: Whether to refresh the StatusSignal before returning it; defaults to true :type refresh: bool :returns: ClosedLoopDerivativeOutput Status Signal object :rtype: StatusSignal[float] .. py:method:: get_closed_loop_output(refresh: bool = True) -> phoenix6.status_signal.StatusSignal[float] Closed loop total output. The total output of the closed loop output. When using differential control, this applies to the average axis. Default Rates: - CAN 2.0: 4.0 Hz - CAN FD: 100.0 Hz (TimeSynced with Pro) This refreshes and returns a cached StatusSignal object. :param refresh: Whether to refresh the StatusSignal before returning it; defaults to true :type refresh: bool :returns: ClosedLoopOutput Status Signal object :rtype: StatusSignal[float] .. py:method:: get_closed_loop_reference(refresh: bool = True) -> phoenix6.status_signal.StatusSignal[float] Value that the closed loop is targeting. This is the value that the closed loop PID controller targets. When using differential control, this applies to the average axis. Default Rates: - CAN 2.0: 4.0 Hz - CAN FD: 100.0 Hz (TimeSynced with Pro) This refreshes and returns a cached StatusSignal object. :param refresh: Whether to refresh the StatusSignal before returning it; defaults to true :type refresh: bool :returns: ClosedLoopReference Status Signal object :rtype: StatusSignal[float] .. py:method:: get_closed_loop_reference_slope(refresh: bool = True) -> phoenix6.status_signal.StatusSignal[float] Derivative of the target that the closed loop is targeting. This is the change in the closed loop reference. This may be used in the feed-forward calculation, the derivative-error, or in application of the signage for kS. Typically, this represents the target velocity during Motion Magic®. When using differential control, this applies to the average axis. Default Rates: - CAN 2.0: 4.0 Hz - CAN FD: 100.0 Hz (TimeSynced with Pro) This refreshes and returns a cached StatusSignal object. :param refresh: Whether to refresh the StatusSignal before returning it; defaults to true :type refresh: bool :returns: ClosedLoopReferenceSlope Status Signal object :rtype: StatusSignal[float] .. py:method:: get_closed_loop_error(refresh: bool = True) -> phoenix6.status_signal.StatusSignal[float] The difference between target reference and current measurement. This is the value that is treated as the error in the PID loop. When using differential control, this applies to the average axis. Default Rates: - CAN 2.0: 4.0 Hz - CAN FD: 100.0 Hz (TimeSynced with Pro) This refreshes and returns a cached StatusSignal object. :param refresh: Whether to refresh the StatusSignal before returning it; defaults to true :type refresh: bool :returns: ClosedLoopError Status Signal object :rtype: StatusSignal[float] .. py:method:: get_differential_output(refresh: bool = True) -> phoenix6.status_signal.StatusSignal[float] The calculated motor output for differential followers. This is a torque request when using the TorqueCurrentFOC control output type, a voltage request when using the Voltage control output type, and a duty cycle when using the DutyCycle control output type. Default Rates: - CAN 2.0: 100.0 Hz - CAN FD: 100.0 Hz (TimeSynced with Pro) This refreshes and returns a cached StatusSignal object. :param refresh: Whether to refresh the StatusSignal before returning it; defaults to true :type refresh: bool :returns: DifferentialOutput Status Signal object :rtype: StatusSignal[float] .. py:method:: get_differential_closed_loop_proportional_output(refresh: bool = True) -> phoenix6.status_signal.StatusSignal[float] Differential closed loop proportional component. The portion of the differential closed loop output (on the difference axis) that is proportional to the error. Alternatively, the kP contribution of the closed loop output. Default Rates: - CAN 2.0: 4.0 Hz - CAN FD: 100.0 Hz (TimeSynced with Pro) This refreshes and returns a cached StatusSignal object. :param refresh: Whether to refresh the StatusSignal before returning it; defaults to true :type refresh: bool :returns: DifferentialClosedLoopProportionalOutput Status Signal object :rtype: StatusSignal[float] .. py:method:: get_differential_closed_loop_integrated_output(refresh: bool = True) -> phoenix6.status_signal.StatusSignal[float] Differential closed loop integrated component. The portion of the differential closed loop output (on the difference axis) that is proportional to the integrated error. Alternatively, the kI contribution of the closed loop output. Default Rates: - CAN 2.0: 100.0 Hz - CAN FD: 100.0 Hz (TimeSynced with Pro) This refreshes and returns a cached StatusSignal object. :param refresh: Whether to refresh the StatusSignal before returning it; defaults to true :type refresh: bool :returns: DifferentialClosedLoopIntegratedOutput Status Signal object :rtype: StatusSignal[float] .. py:method:: get_differential_closed_loop_feed_forward(refresh: bool = True) -> phoenix6.status_signal.StatusSignal[float] Differential Feedforward passed by the user. This is the general feedforward that the user provides for the differential closed loop (on the difference axis). Default Rates: - CAN 2.0: 100.0 Hz - CAN FD: 100.0 Hz (TimeSynced with Pro) This refreshes and returns a cached StatusSignal object. :param refresh: Whether to refresh the StatusSignal before returning it; defaults to true :type refresh: bool :returns: DifferentialClosedLoopFeedForward Status Signal object :rtype: StatusSignal[float] .. py:method:: get_differential_closed_loop_derivative_output(refresh: bool = True) -> phoenix6.status_signal.StatusSignal[float] Differential closed loop derivative component. The portion of the differential closed loop output (on the difference axis) that is proportional to the deriviative of error. Alternatively, the kD contribution of the closed loop output. Default Rates: - CAN 2.0: 4.0 Hz - CAN FD: 100.0 Hz (TimeSynced with Pro) This refreshes and returns a cached StatusSignal object. :param refresh: Whether to refresh the StatusSignal before returning it; defaults to true :type refresh: bool :returns: DifferentialClosedLoopDerivativeOutput Status Signal object :rtype: StatusSignal[float] .. py:method:: get_differential_closed_loop_output(refresh: bool = True) -> phoenix6.status_signal.StatusSignal[float] Differential closed loop total output. The total output of the differential closed loop output (on the difference axis). Default Rates: - CAN 2.0: 4.0 Hz - CAN FD: 100.0 Hz (TimeSynced with Pro) This refreshes and returns a cached StatusSignal object. :param refresh: Whether to refresh the StatusSignal before returning it; defaults to true :type refresh: bool :returns: DifferentialClosedLoopOutput Status Signal object :rtype: StatusSignal[float] .. py:method:: get_differential_closed_loop_reference(refresh: bool = True) -> phoenix6.status_signal.StatusSignal[float] Value that the differential closed loop is targeting. This is the value that the differential closed loop PID controller targets (on the difference axis). Default Rates: - CAN 2.0: 4.0 Hz - CAN FD: 100.0 Hz (TimeSynced with Pro) This refreshes and returns a cached StatusSignal object. :param refresh: Whether to refresh the StatusSignal before returning it; defaults to true :type refresh: bool :returns: DifferentialClosedLoopReference Status Signal object :rtype: StatusSignal[float] .. py:method:: get_differential_closed_loop_reference_slope(refresh: bool = True) -> phoenix6.status_signal.StatusSignal[float] Derivative of the target that the differential closed loop is targeting. This is the change in the closed loop reference (on the difference axis). This may be used in the feed-forward calculation, the derivative-error, or in application of the signage for kS. Typically, this represents the target velocity during Motion Magic®. Default Rates: - CAN 2.0: 4.0 Hz - CAN FD: 100.0 Hz (TimeSynced with Pro) This refreshes and returns a cached StatusSignal object. :param refresh: Whether to refresh the StatusSignal before returning it; defaults to true :type refresh: bool :returns: DifferentialClosedLoopReferenceSlope Status Signal object :rtype: StatusSignal[float] .. py:method:: get_differential_closed_loop_error(refresh: bool = True) -> phoenix6.status_signal.StatusSignal[float] The difference between target differential reference and current measurement. This is the value that is treated as the error in the differential PID loop (on the difference axis). Default Rates: - CAN 2.0: 4.0 Hz - CAN FD: 100.0 Hz (TimeSynced with Pro) This refreshes and returns a cached StatusSignal object. :param refresh: Whether to refresh the StatusSignal before returning it; defaults to true :type refresh: bool :returns: DifferentialClosedLoopError Status Signal object :rtype: StatusSignal[float] .. py:method:: set_control(request: phoenix6.controls.duty_cycle_out.DutyCycleOut) -> phoenix6.status_code.StatusCode set_control(request: phoenix6.controls.voltage_out.VoltageOut) -> phoenix6.status_code.StatusCode set_control(request: phoenix6.controls.position_duty_cycle.PositionDutyCycle) -> phoenix6.status_code.StatusCode set_control(request: phoenix6.controls.position_voltage.PositionVoltage) -> phoenix6.status_code.StatusCode set_control(request: phoenix6.controls.velocity_duty_cycle.VelocityDutyCycle) -> phoenix6.status_code.StatusCode set_control(request: phoenix6.controls.velocity_voltage.VelocityVoltage) -> phoenix6.status_code.StatusCode set_control(request: phoenix6.controls.motion_magic_duty_cycle.MotionMagicDutyCycle) -> phoenix6.status_code.StatusCode set_control(request: phoenix6.controls.motion_magic_voltage.MotionMagicVoltage) -> phoenix6.status_code.StatusCode set_control(request: phoenix6.controls.differential_duty_cycle.DifferentialDutyCycle) -> phoenix6.status_code.StatusCode set_control(request: phoenix6.controls.differential_voltage.DifferentialVoltage) -> phoenix6.status_code.StatusCode set_control(request: phoenix6.controls.differential_position_duty_cycle.DifferentialPositionDutyCycle) -> phoenix6.status_code.StatusCode set_control(request: phoenix6.controls.differential_position_voltage.DifferentialPositionVoltage) -> phoenix6.status_code.StatusCode set_control(request: phoenix6.controls.differential_velocity_duty_cycle.DifferentialVelocityDutyCycle) -> phoenix6.status_code.StatusCode set_control(request: phoenix6.controls.differential_velocity_voltage.DifferentialVelocityVoltage) -> phoenix6.status_code.StatusCode set_control(request: phoenix6.controls.differential_motion_magic_duty_cycle.DifferentialMotionMagicDutyCycle) -> phoenix6.status_code.StatusCode set_control(request: phoenix6.controls.differential_motion_magic_voltage.DifferentialMotionMagicVoltage) -> phoenix6.status_code.StatusCode set_control(request: phoenix6.controls.differential_motion_magic_expo_duty_cycle.DifferentialMotionMagicExpoDutyCycle) -> phoenix6.status_code.StatusCode set_control(request: phoenix6.controls.differential_motion_magic_expo_voltage.DifferentialMotionMagicExpoVoltage) -> phoenix6.status_code.StatusCode set_control(request: phoenix6.controls.differential_motion_magic_velocity_duty_cycle.DifferentialMotionMagicVelocityDutyCycle) -> phoenix6.status_code.StatusCode set_control(request: phoenix6.controls.differential_motion_magic_velocity_voltage.DifferentialMotionMagicVelocityVoltage) -> phoenix6.status_code.StatusCode set_control(request: phoenix6.controls.follower.Follower) -> phoenix6.status_code.StatusCode set_control(request: phoenix6.controls.strict_follower.StrictFollower) -> phoenix6.status_code.StatusCode set_control(request: phoenix6.controls.differential_follower.DifferentialFollower) -> phoenix6.status_code.StatusCode set_control(request: phoenix6.controls.differential_strict_follower.DifferentialStrictFollower) -> phoenix6.status_code.StatusCode set_control(request: phoenix6.controls.neutral_out.NeutralOut) -> phoenix6.status_code.StatusCode set_control(request: phoenix6.controls.coast_out.CoastOut) -> phoenix6.status_code.StatusCode set_control(request: phoenix6.controls.static_brake.StaticBrake) -> phoenix6.status_code.StatusCode set_control(request: phoenix6.controls.motion_magic_velocity_duty_cycle.MotionMagicVelocityDutyCycle) -> phoenix6.status_code.StatusCode set_control(request: phoenix6.controls.motion_magic_velocity_voltage.MotionMagicVelocityVoltage) -> phoenix6.status_code.StatusCode set_control(request: phoenix6.controls.motion_magic_expo_duty_cycle.MotionMagicExpoDutyCycle) -> phoenix6.status_code.StatusCode set_control(request: phoenix6.controls.motion_magic_expo_voltage.MotionMagicExpoVoltage) -> phoenix6.status_code.StatusCode set_control(request: phoenix6.controls.dynamic_motion_magic_duty_cycle.DynamicMotionMagicDutyCycle) -> phoenix6.status_code.StatusCode set_control(request: phoenix6.controls.dynamic_motion_magic_voltage.DynamicMotionMagicVoltage) -> phoenix6.status_code.StatusCode set_control(request: phoenix6.controls.dynamic_motion_magic_expo_duty_cycle.DynamicMotionMagicExpoDutyCycle) -> phoenix6.status_code.StatusCode set_control(request: phoenix6.controls.dynamic_motion_magic_expo_voltage.DynamicMotionMagicExpoVoltage) -> phoenix6.status_code.StatusCode set_control(request: phoenix6.controls.compound.diff_duty_cycle_out_position.Diff_DutyCycleOut_Position) -> phoenix6.status_code.StatusCode set_control(request: phoenix6.controls.compound.diff_position_duty_cycle_position.Diff_PositionDutyCycle_Position) -> phoenix6.status_code.StatusCode set_control(request: phoenix6.controls.compound.diff_velocity_duty_cycle_position.Diff_VelocityDutyCycle_Position) -> phoenix6.status_code.StatusCode set_control(request: phoenix6.controls.compound.diff_motion_magic_duty_cycle_position.Diff_MotionMagicDutyCycle_Position) -> phoenix6.status_code.StatusCode set_control(request: phoenix6.controls.compound.diff_motion_magic_expo_duty_cycle_position.Diff_MotionMagicExpoDutyCycle_Position) -> phoenix6.status_code.StatusCode set_control(request: phoenix6.controls.compound.diff_motion_magic_velocity_duty_cycle_position.Diff_MotionMagicVelocityDutyCycle_Position) -> phoenix6.status_code.StatusCode set_control(request: phoenix6.controls.compound.diff_duty_cycle_out_velocity.Diff_DutyCycleOut_Velocity) -> phoenix6.status_code.StatusCode set_control(request: phoenix6.controls.compound.diff_position_duty_cycle_velocity.Diff_PositionDutyCycle_Velocity) -> phoenix6.status_code.StatusCode set_control(request: phoenix6.controls.compound.diff_velocity_duty_cycle_velocity.Diff_VelocityDutyCycle_Velocity) -> phoenix6.status_code.StatusCode set_control(request: phoenix6.controls.compound.diff_motion_magic_duty_cycle_velocity.Diff_MotionMagicDutyCycle_Velocity) -> phoenix6.status_code.StatusCode set_control(request: phoenix6.controls.compound.diff_motion_magic_expo_duty_cycle_velocity.Diff_MotionMagicExpoDutyCycle_Velocity) -> phoenix6.status_code.StatusCode set_control(request: phoenix6.controls.compound.diff_motion_magic_velocity_duty_cycle_velocity.Diff_MotionMagicVelocityDutyCycle_Velocity) -> phoenix6.status_code.StatusCode set_control(request: phoenix6.controls.compound.diff_duty_cycle_out_open.Diff_DutyCycleOut_Open) -> phoenix6.status_code.StatusCode set_control(request: phoenix6.controls.compound.diff_position_duty_cycle_open.Diff_PositionDutyCycle_Open) -> phoenix6.status_code.StatusCode set_control(request: phoenix6.controls.compound.diff_velocity_duty_cycle_open.Diff_VelocityDutyCycle_Open) -> phoenix6.status_code.StatusCode set_control(request: phoenix6.controls.compound.diff_motion_magic_duty_cycle_open.Diff_MotionMagicDutyCycle_Open) -> phoenix6.status_code.StatusCode set_control(request: phoenix6.controls.compound.diff_motion_magic_expo_duty_cycle_open.Diff_MotionMagicExpoDutyCycle_Open) -> phoenix6.status_code.StatusCode set_control(request: phoenix6.controls.compound.diff_motion_magic_velocity_duty_cycle_open.Diff_MotionMagicVelocityDutyCycle_Open) -> phoenix6.status_code.StatusCode set_control(request: phoenix6.controls.compound.diff_voltage_out_position.Diff_VoltageOut_Position) -> phoenix6.status_code.StatusCode set_control(request: phoenix6.controls.compound.diff_position_voltage_position.Diff_PositionVoltage_Position) -> phoenix6.status_code.StatusCode set_control(request: phoenix6.controls.compound.diff_velocity_voltage_position.Diff_VelocityVoltage_Position) -> phoenix6.status_code.StatusCode set_control(request: phoenix6.controls.compound.diff_motion_magic_voltage_position.Diff_MotionMagicVoltage_Position) -> phoenix6.status_code.StatusCode set_control(request: phoenix6.controls.compound.diff_motion_magic_expo_voltage_position.Diff_MotionMagicExpoVoltage_Position) -> phoenix6.status_code.StatusCode set_control(request: phoenix6.controls.compound.diff_motion_magic_velocity_voltage_position.Diff_MotionMagicVelocityVoltage_Position) -> phoenix6.status_code.StatusCode set_control(request: phoenix6.controls.compound.diff_voltage_out_velocity.Diff_VoltageOut_Velocity) -> phoenix6.status_code.StatusCode set_control(request: phoenix6.controls.compound.diff_position_voltage_velocity.Diff_PositionVoltage_Velocity) -> phoenix6.status_code.StatusCode set_control(request: phoenix6.controls.compound.diff_velocity_voltage_velocity.Diff_VelocityVoltage_Velocity) -> phoenix6.status_code.StatusCode set_control(request: phoenix6.controls.compound.diff_motion_magic_voltage_velocity.Diff_MotionMagicVoltage_Velocity) -> phoenix6.status_code.StatusCode set_control(request: phoenix6.controls.compound.diff_motion_magic_expo_voltage_velocity.Diff_MotionMagicExpoVoltage_Velocity) -> phoenix6.status_code.StatusCode set_control(request: phoenix6.controls.compound.diff_motion_magic_velocity_voltage_velocity.Diff_MotionMagicVelocityVoltage_Velocity) -> phoenix6.status_code.StatusCode set_control(request: phoenix6.controls.compound.diff_voltage_out_open.Diff_VoltageOut_Open) -> phoenix6.status_code.StatusCode set_control(request: phoenix6.controls.compound.diff_position_voltage_open.Diff_PositionVoltage_Open) -> phoenix6.status_code.StatusCode set_control(request: phoenix6.controls.compound.diff_velocity_voltage_open.Diff_VelocityVoltage_Open) -> phoenix6.status_code.StatusCode set_control(request: phoenix6.controls.compound.diff_motion_magic_voltage_open.Diff_MotionMagicVoltage_Open) -> phoenix6.status_code.StatusCode set_control(request: phoenix6.controls.compound.diff_motion_magic_expo_voltage_open.Diff_MotionMagicExpoVoltage_Open) -> phoenix6.status_code.StatusCode set_control(request: phoenix6.controls.compound.diff_motion_magic_velocity_voltage_open.Diff_MotionMagicVelocityVoltage_Open) -> phoenix6.status_code.StatusCode set_control(request: phoenix6.controls.empty_control.EmptyControl) -> phoenix6.status_code.StatusCode set_control(request: phoenix6.hardware.parent_device.SupportsSendRequest) -> phoenix6.status_code.StatusCode .. py:method:: set_position(new_value: phoenix6.units.rotation, timeout_seconds: phoenix6.units.second = 0.1) -> phoenix6.status_code.StatusCode Sets the mechanism position of the device in mechanism rotations. :param new_value: Value to set to. Units are in rotations. :type new_value: rotation :param timeout_seconds: Maximum time to wait up to in seconds. :type timeout_seconds: second :returns: StatusCode of the set command :rtype: StatusCode .. py:method:: clear_sticky_faults(timeout_seconds: phoenix6.units.second = 0.1) -> phoenix6.status_code.StatusCode Clear the sticky faults in the device. This typically has no impact on the device functionality. Instead, it just clears telemetry faults that are accessible via API and Tuner Self-Test. :param timeout_seconds: Maximum time to wait up to in seconds. :type timeout_seconds: second :returns: StatusCode of the set command :rtype: StatusCode .. py:method:: clear_sticky_fault_hardware(timeout_seconds: phoenix6.units.second = 0.1) -> phoenix6.status_code.StatusCode Clear sticky fault: Hardware fault occurred :param timeout_seconds: Maximum time to wait up to in seconds. :type timeout_seconds: second :returns: StatusCode of the set command :rtype: StatusCode .. py:method:: clear_sticky_fault_proc_temp(timeout_seconds: phoenix6.units.second = 0.1) -> phoenix6.status_code.StatusCode Clear sticky fault: Processor temperature exceeded limit :param timeout_seconds: Maximum time to wait up to in seconds. :type timeout_seconds: second :returns: StatusCode of the set command :rtype: StatusCode .. py:method:: clear_sticky_fault_device_temp(timeout_seconds: phoenix6.units.second = 0.1) -> phoenix6.status_code.StatusCode Clear sticky fault: Device temperature exceeded limit :param timeout_seconds: Maximum time to wait up to in seconds. :type timeout_seconds: second :returns: StatusCode of the set command :rtype: StatusCode .. py:method:: clear_sticky_fault_undervoltage(timeout_seconds: phoenix6.units.second = 0.1) -> phoenix6.status_code.StatusCode Clear sticky fault: Device supply voltage dropped to near brownout levels :param timeout_seconds: Maximum time to wait up to in seconds. :type timeout_seconds: second :returns: StatusCode of the set command :rtype: StatusCode .. py:method:: clear_sticky_fault_boot_during_enable(timeout_seconds: phoenix6.units.second = 0.1) -> phoenix6.status_code.StatusCode Clear sticky fault: Device boot while detecting the enable signal :param timeout_seconds: Maximum time to wait up to in seconds. :type timeout_seconds: second :returns: StatusCode of the set command :rtype: StatusCode .. py:method:: clear_sticky_fault_unlicensed_feature_in_use(timeout_seconds: phoenix6.units.second = 0.1) -> phoenix6.status_code.StatusCode Clear sticky fault: An unlicensed feature is in use, device may not behave as expected. :param timeout_seconds: Maximum time to wait up to in seconds. :type timeout_seconds: second :returns: StatusCode of the set command :rtype: StatusCode .. py:method:: clear_sticky_fault_bridge_brownout(timeout_seconds: phoenix6.units.second = 0.1) -> phoenix6.status_code.StatusCode Clear sticky fault: Bridge was disabled most likely due to supply voltage dropping too low. :param timeout_seconds: Maximum time to wait up to in seconds. :type timeout_seconds: second :returns: StatusCode of the set command :rtype: StatusCode .. py:method:: clear_sticky_fault_remote_sensor_reset(timeout_seconds: phoenix6.units.second = 0.1) -> phoenix6.status_code.StatusCode Clear sticky fault: The remote sensor has reset. :param timeout_seconds: Maximum time to wait up to in seconds. :type timeout_seconds: second :returns: StatusCode of the set command :rtype: StatusCode .. py:method:: clear_sticky_fault_missing_differential_fx(timeout_seconds: phoenix6.units.second = 0.1) -> phoenix6.status_code.StatusCode Clear sticky fault: The remote Talon used for differential control is not present on CAN Bus. :param timeout_seconds: Maximum time to wait up to in seconds. :type timeout_seconds: second :returns: StatusCode of the set command :rtype: StatusCode .. py:method:: clear_sticky_fault_remote_sensor_pos_overflow(timeout_seconds: phoenix6.units.second = 0.1) -> phoenix6.status_code.StatusCode Clear sticky fault: The remote sensor position has overflowed. Because of the nature of remote sensors, it is possible for the remote sensor position to overflow beyond what is supported by the status signal frame. However, this is rare and cannot occur over the course of an FRC match under normal use. :param timeout_seconds: Maximum time to wait up to in seconds. :type timeout_seconds: second :returns: StatusCode of the set command :rtype: StatusCode .. py:method:: clear_sticky_fault_over_supply_v(timeout_seconds: phoenix6.units.second = 0.1) -> phoenix6.status_code.StatusCode Clear sticky fault: Supply Voltage has exceeded the maximum voltage rating of device. :param timeout_seconds: Maximum time to wait up to in seconds. :type timeout_seconds: second :returns: StatusCode of the set command :rtype: StatusCode .. py:method:: clear_sticky_fault_unstable_supply_v(timeout_seconds: phoenix6.units.second = 0.1) -> phoenix6.status_code.StatusCode Clear sticky fault: Supply Voltage is unstable. Ensure you are using a battery and current limited power supply. :param timeout_seconds: Maximum time to wait up to in seconds. :type timeout_seconds: second :returns: StatusCode of the set command :rtype: StatusCode .. py:method:: clear_sticky_fault_reverse_hard_limit(timeout_seconds: phoenix6.units.second = 0.1) -> phoenix6.status_code.StatusCode Clear sticky fault: Reverse limit switch has been asserted. Output is set to neutral. :param timeout_seconds: Maximum time to wait up to in seconds. :type timeout_seconds: second :returns: StatusCode of the set command :rtype: StatusCode .. py:method:: clear_sticky_fault_forward_hard_limit(timeout_seconds: phoenix6.units.second = 0.1) -> phoenix6.status_code.StatusCode Clear sticky fault: Forward limit switch has been asserted. Output is set to neutral. :param timeout_seconds: Maximum time to wait up to in seconds. :type timeout_seconds: second :returns: StatusCode of the set command :rtype: StatusCode .. py:method:: clear_sticky_fault_reverse_soft_limit(timeout_seconds: phoenix6.units.second = 0.1) -> phoenix6.status_code.StatusCode Clear sticky fault: Reverse soft limit has been asserted. Output is set to neutral. :param timeout_seconds: Maximum time to wait up to in seconds. :type timeout_seconds: second :returns: StatusCode of the set command :rtype: StatusCode .. py:method:: clear_sticky_fault_forward_soft_limit(timeout_seconds: phoenix6.units.second = 0.1) -> phoenix6.status_code.StatusCode Clear sticky fault: Forward soft limit has been asserted. Output is set to neutral. :param timeout_seconds: Maximum time to wait up to in seconds. :type timeout_seconds: second :returns: StatusCode of the set command :rtype: StatusCode .. py:method:: clear_sticky_fault_missing_soft_limit_remote(timeout_seconds: phoenix6.units.second = 0.1) -> phoenix6.status_code.StatusCode Clear sticky fault: The remote soft limit device is not present on CAN Bus. :param timeout_seconds: Maximum time to wait up to in seconds. :type timeout_seconds: second :returns: StatusCode of the set command :rtype: StatusCode .. py:method:: clear_sticky_fault_missing_hard_limit_remote(timeout_seconds: phoenix6.units.second = 0.1) -> phoenix6.status_code.StatusCode Clear sticky fault: The remote limit switch device is not present on CAN Bus. :param timeout_seconds: Maximum time to wait up to in seconds. :type timeout_seconds: second :returns: StatusCode of the set command :rtype: StatusCode .. py:method:: clear_sticky_fault_remote_sensor_data_invalid(timeout_seconds: phoenix6.units.second = 0.1) -> phoenix6.status_code.StatusCode Clear sticky fault: The remote sensor's data is no longer trusted. This can happen if the remote sensor disappears from the CAN bus or if the remote sensor indicates its data is no longer valid, such as when a CANcoder's magnet strength falls into the "red" range. :param timeout_seconds: Maximum time to wait up to in seconds. :type timeout_seconds: second :returns: StatusCode of the set command :rtype: StatusCode .. py:method:: clear_sticky_fault_fused_sensor_out_of_sync(timeout_seconds: phoenix6.units.second = 0.1) -> phoenix6.status_code.StatusCode Clear sticky fault: The remote sensor used for fusion has fallen out of sync to the local sensor. A re-synchronization has occurred, which may cause a discontinuity. This typically happens if there is significant slop in the mechanism, or if the RotorToSensorRatio configuration parameter is incorrect. :param timeout_seconds: Maximum time to wait up to in seconds. :type timeout_seconds: second :returns: StatusCode of the set command :rtype: StatusCode .. py:method:: clear_sticky_fault_stator_curr_limit(timeout_seconds: phoenix6.units.second = 0.1) -> phoenix6.status_code.StatusCode Clear sticky fault: Stator current limit occured. :param timeout_seconds: Maximum time to wait up to in seconds. :type timeout_seconds: second :returns: StatusCode of the set command :rtype: StatusCode .. py:method:: clear_sticky_fault_supply_curr_limit(timeout_seconds: phoenix6.units.second = 0.1) -> phoenix6.status_code.StatusCode Clear sticky fault: Supply current limit occured. :param timeout_seconds: Maximum time to wait up to in seconds. :type timeout_seconds: second :returns: StatusCode of the set command :rtype: StatusCode .. py:method:: clear_sticky_fault_using_fused_cancoder_while_unlicensed(timeout_seconds: phoenix6.units.second = 0.1) -> phoenix6.status_code.StatusCode Clear sticky fault: Using Fused CANcoder feature while unlicensed. Device has fallen back to remote CANcoder. :param timeout_seconds: Maximum time to wait up to in seconds. :type timeout_seconds: second :returns: StatusCode of the set command :rtype: StatusCode .. py:method:: clear_sticky_fault_static_brake_disabled(timeout_seconds: phoenix6.units.second = 0.1) -> phoenix6.status_code.StatusCode Clear sticky fault: Static brake was momentarily disabled due to excessive braking current while disabled. :param timeout_seconds: Maximum time to wait up to in seconds. :type timeout_seconds: second :returns: StatusCode of the set command :rtype: StatusCode .. py:method:: clear_sticky_fault_bridge_short(timeout_seconds: phoenix6.units.second = 0.1) -> phoenix6.status_code.StatusCode Clear sticky fault: Bridge was disabled most likely due to a short in the motor leads. :param timeout_seconds: Maximum time to wait up to in seconds. :type timeout_seconds: second :returns: StatusCode of the set command :rtype: StatusCode .. py:method:: clear_sticky_fault_hall_sensor_missing(timeout_seconds: phoenix6.units.second = 0.1) -> phoenix6.status_code.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. :param timeout_seconds: Maximum time to wait up to in seconds. :type timeout_seconds: second :returns: StatusCode of the set command :rtype: StatusCode .. py:method:: clear_sticky_fault_drive_disabled_hall_sensor(timeout_seconds: phoenix6.units.second = 0.1) -> phoenix6.status_code.StatusCode Clear sticky fault: Hall sensor signals are invalid during motor drive, so motor was disabled. Check hall sensor and cabling. :param timeout_seconds: Maximum time to wait up to in seconds. :type timeout_seconds: second :returns: StatusCode of the set command :rtype: StatusCode .. py:method:: clear_sticky_fault_motor_temp_sensor_missing(timeout_seconds: phoenix6.units.second = 0.1) -> phoenix6.status_code.StatusCode Clear sticky fault: Motor temperature signal appears to not be connected. :param timeout_seconds: Maximum time to wait up to in seconds. :type timeout_seconds: second :returns: StatusCode of the set command :rtype: StatusCode .. py:method:: clear_sticky_fault_motor_temp_sensor_too_hot(timeout_seconds: phoenix6.units.second = 0.1) -> phoenix6.status_code.StatusCode Clear sticky fault: Motor temperature signal indicates motor is too hot. :param timeout_seconds: Maximum time to wait up to in seconds. :type timeout_seconds: second :returns: StatusCode of the set command :rtype: StatusCode .. py:method:: clear_sticky_fault_motor_arrangement_not_selected(timeout_seconds: phoenix6.units.second = 0.1) -> phoenix6.status_code.StatusCode Clear sticky fault: Motor arrangement has not been set in configuration. :param timeout_seconds: Maximum time to wait up to in seconds. :type timeout_seconds: second :returns: StatusCode of the set command :rtype: StatusCode .. py:class:: CoreCANrange(device_id: int, canbus: phoenix6.canbus.CANBus | str = CANBus()) Bases: :py:obj:`phoenix6.hardware.parent_device.ParentDevice` Class for CANrange, a CAN based Time of Flight (ToF) sensor that measures the distance to the front of the device. Constructs a new CANrange object. .. versionchanged:: 2026 Constructing devices with a CAN bus string is deprecated for removal in the 2027 season. Construct devices using a CANBus instance instead. :param device_id: ID of the device, as configured in Phoenix Tuner :type device_id: int :param canbus: 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 :type canbus: CANBus | str, optional .. py:property:: sim_state :type: phoenix6.sim.canrange_sim_state.CANrangeSimState Get the simulation state for this device. This function reuses an allocated simulation state object, so it is safe to call this function multiple times in a robot loop. :returns: Simulation state :rtype: CANrangeSimState .. py:attribute:: Configuration The configuration class for this device. .. py:attribute:: configurator .. py:method:: none() :classmethod: Constructs a stubbed-out CoreCANrange, where all status signals, controls, configs, etc. perform no action and immediately return OK. This can be used to silence error messages for devices that have been completely removed from the robot. :returns: Stubbed-out CoreCANrange :rtype: CoreCANrange .. py:method:: get_version_major(refresh: bool = True) -> phoenix6.status_signal.StatusSignal[int] App Major Version number. - Minimum Value: 0 - Maximum Value: 255 - Default Value: 0 - Units: Default Rates: - CAN: 4.0 Hz This refreshes and returns a cached StatusSignal object. :param refresh: Whether to refresh the StatusSignal before returning it; defaults to true :type refresh: bool :returns: VersionMajor Status Signal Object :rtype: StatusSignal[int] .. py:method:: get_version_minor(refresh: bool = True) -> phoenix6.status_signal.StatusSignal[int] App Minor Version number. - Minimum Value: 0 - Maximum Value: 255 - Default Value: 0 - Units: Default Rates: - CAN: 4.0 Hz This refreshes and returns a cached StatusSignal object. :param refresh: Whether to refresh the StatusSignal before returning it; defaults to true :type refresh: bool :returns: VersionMinor Status Signal Object :rtype: StatusSignal[int] .. py:method:: get_version_bugfix(refresh: bool = True) -> phoenix6.status_signal.StatusSignal[int] App Bugfix Version number. - Minimum Value: 0 - Maximum Value: 255 - Default Value: 0 - Units: Default Rates: - CAN: 4.0 Hz This refreshes and returns a cached StatusSignal object. :param refresh: Whether to refresh the StatusSignal before returning it; defaults to true :type refresh: bool :returns: VersionBugfix Status Signal Object :rtype: StatusSignal[int] .. py:method:: get_version_build(refresh: bool = True) -> phoenix6.status_signal.StatusSignal[int] App Build Version number. - Minimum Value: 0 - Maximum Value: 255 - Default Value: 0 - Units: Default Rates: - CAN: 4.0 Hz This refreshes and returns a cached StatusSignal object. :param refresh: Whether to refresh the StatusSignal before returning it; defaults to true :type refresh: bool :returns: VersionBuild Status Signal Object :rtype: StatusSignal[int] .. py:method:: get_version(refresh: bool = True) -> phoenix6.status_signal.StatusSignal[int] Full Version of firmware in device. The format is a four byte value. - Minimum Value: 0 - Maximum Value: 4294967295 - Default Value: 0 - Units: Default Rates: - CAN: 4.0 Hz This refreshes and returns a cached StatusSignal object. :param refresh: Whether to refresh the StatusSignal before returning it; defaults to true :type refresh: bool :returns: Version Status Signal Object :rtype: StatusSignal[int] .. py:method:: get_fault_field(refresh: bool = True) -> phoenix6.status_signal.StatusSignal[int] Integer representing all fault flags reported by the device. These are device specific and are not used directly in typical applications. Use the signal specific GetFault_*() methods instead. - Minimum Value: 0 - Maximum Value: 4294967295 - Default Value: 0 - Units: Default Rates: - CAN: 4.0 Hz This refreshes and returns a cached StatusSignal object. :param refresh: Whether to refresh the StatusSignal before returning it; defaults to true :type refresh: bool :returns: FaultField Status Signal Object :rtype: StatusSignal[int] .. py:method:: get_sticky_fault_field(refresh: bool = True) -> phoenix6.status_signal.StatusSignal[int] Integer representing all (persistent) sticky fault flags reported by the device. These are device specific and are not used directly in typical applications. Use the signal specific GetStickyFault_*() methods instead. - Minimum Value: 0 - Maximum Value: 4294967295 - Default Value: 0 - Units: Default Rates: - CAN: 4.0 Hz This refreshes and returns a cached StatusSignal object. :param refresh: Whether to refresh the StatusSignal before returning it; defaults to true :type refresh: bool :returns: StickyFaultField Status Signal Object :rtype: StatusSignal[int] .. py:method:: get_is_pro_licensed(refresh: bool = True) -> phoenix6.status_signal.StatusSignal[bool] Whether the device is Phoenix Pro licensed. - Default Value: False Default Rates: - CAN: 4.0 Hz This refreshes and returns a cached StatusSignal object. :param refresh: Whether to refresh the StatusSignal before returning it; defaults to true :type refresh: bool :returns: IsProLicensed Status Signal Object :rtype: StatusSignal[bool] .. py:method:: get_supply_voltage(refresh: bool = True) -> phoenix6.status_signal.StatusSignal[phoenix6.units.volt] Measured supply voltage to the CANrange. - Minimum Value: 4 - Maximum Value: 16.75 - Default Value: 4 - Units: V Default Rates: - CAN 2.0: 100.0 Hz - CAN FD: 100.0 Hz (TimeSynced with Pro) This refreshes and returns a cached StatusSignal object. :param refresh: Whether to refresh the StatusSignal before returning it; defaults to true :type refresh: bool :returns: SupplyVoltage Status Signal Object :rtype: StatusSignal[volt] .. py:method:: get_distance(refresh: bool = True) -> phoenix6.status_signal.StatusSignal[phoenix6.units.meter] Distance to the nearest object in the configured field of view of the CANrange. - Minimum Value: 0.0 - Maximum Value: 65.535 - Default Value: 0 - Units: m Default Rates: - CAN 2.0: 100.0 Hz - CAN FD: 100.0 Hz (TimeSynced with Pro) This refreshes and returns a cached StatusSignal object. :param refresh: Whether to refresh the StatusSignal before returning it; defaults to true :type refresh: bool :returns: Distance Status Signal Object :rtype: StatusSignal[meter] .. py:method:: get_measurement_time(refresh: bool = True) -> phoenix6.status_signal.StatusSignal[phoenix6.units.second] Timestamp of the most recent measurements. This is not synchronized to any other clock source. Users can use this to check when the measurements are updated. - Minimum Value: 0.0 - Maximum Value: 65.535 - Default Value: 0 - Units: s Default Rates: - CAN 2.0: 100.0 Hz - CAN FD: 100.0 Hz (TimeSynced with Pro) This refreshes and returns a cached StatusSignal object. :param refresh: Whether to refresh the StatusSignal before returning it; defaults to true :type refresh: bool :returns: MeasurementTime Status Signal Object :rtype: StatusSignal[second] .. py:method:: get_signal_strength(refresh: bool = True) -> phoenix6.status_signal.StatusSignal[float] Approximate signal strength of the measurement. A higher value indicates a higher strength of signal. A value of ~2500 is typical when detecting an object under short-range conditions. - Minimum Value: 0 - Maximum Value: 65535 - Default Value: 0 - Units: Default Rates: - CAN 2.0: 100.0 Hz - CAN FD: 100.0 Hz (TimeSynced with Pro) This refreshes and returns a cached StatusSignal object. :param refresh: Whether to refresh the StatusSignal before returning it; defaults to true :type refresh: bool :returns: SignalStrength Status Signal Object :rtype: StatusSignal[float] .. py:method:: get_is_detected(refresh: bool = True) -> phoenix6.status_signal.StatusSignal[bool] Whether the CANrange detects an object using the configured proximity parameters. - Default Value: 0 Default Rates: - CAN 2.0: 100.0 Hz - CAN FD: 100.0 Hz (TimeSynced with Pro) This refreshes and returns a cached StatusSignal object. :param refresh: Whether to refresh the StatusSignal before returning it; defaults to true :type refresh: bool :returns: IsDetected Status Signal Object :rtype: StatusSignal[bool] .. py:method:: get_measurement_health(refresh: bool = True) -> phoenix6.status_signal.StatusSignal[phoenix6.signals.spn_enums.MeasurementHealthValue] Health of the distance measurement. Default Rates: - CAN 2.0: 100.0 Hz - CAN FD: 100.0 Hz (TimeSynced with Pro) This refreshes and returns a cached StatusSignal object. :param refresh: Whether to refresh the StatusSignal before returning it; defaults to true :type refresh: bool :returns: MeasurementHealth Status Signal Object :rtype: StatusSignal[MeasurementHealthValue] .. py:method:: get_ambient_signal(refresh: bool = True) -> phoenix6.status_signal.StatusSignal[float] The amount of ambient infrared light that the sensor is detecting. For ideal operation, this should be as low as possible. Short-range mode reduces the influence of ambient infrared light. - Minimum Value: 0 - Maximum Value: 65535 - Default Value: 0 - Units: Default Rates: - CAN 2.0: 20.0 Hz - CAN FD: 100.0 Hz (TimeSynced with Pro) This refreshes and returns a cached StatusSignal object. :param refresh: Whether to refresh the StatusSignal before returning it; defaults to true :type refresh: bool :returns: AmbientSignal Status Signal Object :rtype: StatusSignal[float] .. py:method:: get_distance_std_dev(refresh: bool = True) -> phoenix6.status_signal.StatusSignal[phoenix6.units.meter] Standard Deviation of the distance measurement. - Minimum Value: 0.0 - Maximum Value: 1.3107000000000002 - Default Value: 0 - Units: m Default Rates: - CAN 2.0: 20.0 Hz - CAN FD: 100.0 Hz (TimeSynced with Pro) This refreshes and returns a cached StatusSignal object. :param refresh: Whether to refresh the StatusSignal before returning it; defaults to true :type refresh: bool :returns: DistanceStdDev Status Signal Object :rtype: StatusSignal[meter] .. py:method:: get_real_fov_center_x(refresh: bool = True) -> phoenix6.status_signal.StatusSignal[phoenix6.units.degree] The actual center of the FOV in the X direction. This takes into account the user-configured FOVCenterX and FOVRangeX. - Minimum Value: -16.0 - Maximum Value: 15.875 - Default Value: 0 - Units: deg Default Rates: - CAN 2.0: 4.0 Hz - CAN FD: 100.0 Hz (TimeSynced with Pro) This refreshes and returns a cached StatusSignal object. :param refresh: Whether to refresh the StatusSignal before returning it; defaults to true :type refresh: bool :returns: RealFOVCenterX Status Signal Object :rtype: StatusSignal[degree] .. py:method:: get_real_fov_center_y(refresh: bool = True) -> phoenix6.status_signal.StatusSignal[phoenix6.units.degree] The actual center of the FOV in the Y direction. This takes into account the user-configured FOVCenterY and FOVRangeY. - Minimum Value: -16.0 - Maximum Value: 15.875 - Default Value: 0 - Units: deg Default Rates: - CAN 2.0: 4.0 Hz - CAN FD: 100.0 Hz (TimeSynced with Pro) This refreshes and returns a cached StatusSignal object. :param refresh: Whether to refresh the StatusSignal before returning it; defaults to true :type refresh: bool :returns: RealFOVCenterY Status Signal Object :rtype: StatusSignal[degree] .. py:method:: get_real_fov_range_x(refresh: bool = True) -> phoenix6.status_signal.StatusSignal[phoenix6.units.degree] The actual range of the FOV in the X direction. This takes into account the user-configured FOVRangeX. - Minimum Value: 0.0 - Maximum Value: 31.875 - Default Value: 0 - Units: deg Default Rates: - CAN 2.0: 4.0 Hz - CAN FD: 100.0 Hz (TimeSynced with Pro) This refreshes and returns a cached StatusSignal object. :param refresh: Whether to refresh the StatusSignal before returning it; defaults to true :type refresh: bool :returns: RealFOVRangeX Status Signal Object :rtype: StatusSignal[degree] .. py:method:: get_real_fov_range_y(refresh: bool = True) -> phoenix6.status_signal.StatusSignal[phoenix6.units.degree] The actual range of the FOV in the Y direction. This takes into account the user-configured FOVRangeY. - Minimum Value: 0.0 - Maximum Value: 31.875 - Default Value: 0 - Units: deg Default Rates: - CAN 2.0: 4.0 Hz - CAN FD: 100.0 Hz (TimeSynced with Pro) This refreshes and returns a cached StatusSignal object. :param refresh: Whether to refresh the StatusSignal before returning it; defaults to true :type refresh: bool :returns: RealFOVRangeY Status Signal Object :rtype: StatusSignal[degree] .. py:method:: get_fault_hardware(refresh: bool = True) -> phoenix6.status_signal.StatusSignal[bool] Hardware fault occurred - Default Value: False Default Rates: - CAN: 4.0 Hz This refreshes and returns a cached StatusSignal object. :param refresh: Whether to refresh the StatusSignal before returning it; defaults to true :type refresh: bool :returns: Fault_Hardware Status Signal Object :rtype: StatusSignal[bool] .. py:method:: get_sticky_fault_hardware(refresh: bool = True) -> phoenix6.status_signal.StatusSignal[bool] Hardware fault occurred - Default Value: False Default Rates: - CAN: 4.0 Hz This refreshes and returns a cached StatusSignal object. :param refresh: Whether to refresh the StatusSignal before returning it; defaults to true :type refresh: bool :returns: StickyFault_Hardware Status Signal Object :rtype: StatusSignal[bool] .. py:method:: get_fault_undervoltage(refresh: bool = True) -> phoenix6.status_signal.StatusSignal[bool] Device supply voltage dropped to near brownout levels - Default Value: False Default Rates: - CAN: 4.0 Hz This refreshes and returns a cached StatusSignal object. :param refresh: Whether to refresh the StatusSignal before returning it; defaults to true :type refresh: bool :returns: Fault_Undervoltage Status Signal Object :rtype: StatusSignal[bool] .. py:method:: get_sticky_fault_undervoltage(refresh: bool = True) -> phoenix6.status_signal.StatusSignal[bool] Device supply voltage dropped to near brownout levels - Default Value: False Default Rates: - CAN: 4.0 Hz This refreshes and returns a cached StatusSignal object. :param refresh: Whether to refresh the StatusSignal before returning it; defaults to true :type refresh: bool :returns: StickyFault_Undervoltage Status Signal Object :rtype: StatusSignal[bool] .. py:method:: get_fault_boot_during_enable(refresh: bool = True) -> phoenix6.status_signal.StatusSignal[bool] Device boot while detecting the enable signal - Default Value: False Default Rates: - CAN: 4.0 Hz This refreshes and returns a cached StatusSignal object. :param refresh: Whether to refresh the StatusSignal before returning it; defaults to true :type refresh: bool :returns: Fault_BootDuringEnable Status Signal Object :rtype: StatusSignal[bool] .. py:method:: get_sticky_fault_boot_during_enable(refresh: bool = True) -> phoenix6.status_signal.StatusSignal[bool] Device boot while detecting the enable signal - Default Value: False Default Rates: - CAN: 4.0 Hz This refreshes and returns a cached StatusSignal object. :param refresh: Whether to refresh the StatusSignal before returning it; defaults to true :type refresh: bool :returns: StickyFault_BootDuringEnable Status Signal Object :rtype: StatusSignal[bool] .. py:method:: get_fault_unlicensed_feature_in_use(refresh: bool = True) -> phoenix6.status_signal.StatusSignal[bool] An unlicensed feature is in use, device may not behave as expected. - Default Value: False Default Rates: - CAN: 4.0 Hz This refreshes and returns a cached StatusSignal object. :param refresh: Whether to refresh the StatusSignal before returning it; defaults to true :type refresh: bool :returns: Fault_UnlicensedFeatureInUse Status Signal Object :rtype: StatusSignal[bool] .. py:method:: get_sticky_fault_unlicensed_feature_in_use(refresh: bool = True) -> phoenix6.status_signal.StatusSignal[bool] An unlicensed feature is in use, device may not behave as expected. - Default Value: False Default Rates: - CAN: 4.0 Hz This refreshes and returns a cached StatusSignal object. :param refresh: Whether to refresh the StatusSignal before returning it; defaults to true :type refresh: bool :returns: StickyFault_UnlicensedFeatureInUse Status Signal Object :rtype: StatusSignal[bool] .. py:method:: clear_sticky_faults(timeout_seconds: phoenix6.units.second = 0.1) -> phoenix6.status_code.StatusCode Clear the sticky faults in the device. This typically has no impact on the device functionality. Instead, it just clears telemetry faults that are accessible via API and Tuner Self-Test. :param timeout_seconds: Maximum time to wait up to in seconds. :type timeout_seconds: second :returns: StatusCode of the set command :rtype: StatusCode .. py:method:: clear_sticky_fault_hardware(timeout_seconds: phoenix6.units.second = 0.1) -> phoenix6.status_code.StatusCode Clear sticky fault: Hardware fault occurred :param timeout_seconds: Maximum time to wait up to in seconds. :type timeout_seconds: second :returns: StatusCode of the set command :rtype: StatusCode .. py:method:: clear_sticky_fault_undervoltage(timeout_seconds: phoenix6.units.second = 0.1) -> phoenix6.status_code.StatusCode Clear sticky fault: Device supply voltage dropped to near brownout levels :param timeout_seconds: Maximum time to wait up to in seconds. :type timeout_seconds: second :returns: StatusCode of the set command :rtype: StatusCode .. py:method:: clear_sticky_fault_boot_during_enable(timeout_seconds: phoenix6.units.second = 0.1) -> phoenix6.status_code.StatusCode Clear sticky fault: Device boot while detecting the enable signal :param timeout_seconds: Maximum time to wait up to in seconds. :type timeout_seconds: second :returns: StatusCode of the set command :rtype: StatusCode .. py:method:: clear_sticky_fault_unlicensed_feature_in_use(timeout_seconds: phoenix6.units.second = 0.1) -> phoenix6.status_code.StatusCode Clear sticky fault: An unlicensed feature is in use, device may not behave as expected. :param timeout_seconds: Maximum time to wait up to in seconds. :type timeout_seconds: second :returns: StatusCode of the set command :rtype: StatusCode .. py:class:: CoreCANdi(device_id: int, canbus: phoenix6.canbus.CANBus | str = CANBus()) Bases: :py:obj:`phoenix6.hardware.parent_device.ParentDevice` Class for CTR Electronics' CANdi™ branded device, a device that integrates digital signals into the existing CAN bus network. Constructs a new CANdi object. .. versionchanged:: 2026 Constructing devices with a CAN bus string is deprecated for removal in the 2027 season. Construct devices using a CANBus instance instead. :param device_id: ID of the device, as configured in Phoenix Tuner :type device_id: int :param canbus: 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 :type canbus: CANBus | str, optional .. py:property:: sim_state :type: phoenix6.sim.candi_sim_state.CANdiSimState Get the simulation state for this device. This function reuses an allocated simulation state object, so it is safe to call this function multiple times in a robot loop. :returns: Simulation state :rtype: CANdiSimState .. py:attribute:: Configuration The configuration class for this device. .. py:attribute:: configurator .. py:method:: none() :classmethod: Constructs a stubbed-out CoreCANdi, where all status signals, controls, configs, etc. perform no action and immediately return OK. This can be used to silence error messages for devices that have been completely removed from the robot. :returns: Stubbed-out CoreCANdi :rtype: CoreCANdi .. py:method:: get_version_major(refresh: bool = True) -> phoenix6.status_signal.StatusSignal[int] App Major Version number. - Minimum Value: 0 - Maximum Value: 255 - Default Value: 0 - Units: Default Rates: - CAN: 4.0 Hz This refreshes and returns a cached StatusSignal object. :param refresh: Whether to refresh the StatusSignal before returning it; defaults to true :type refresh: bool :returns: VersionMajor Status Signal Object :rtype: StatusSignal[int] .. py:method:: get_version_minor(refresh: bool = True) -> phoenix6.status_signal.StatusSignal[int] App Minor Version number. - Minimum Value: 0 - Maximum Value: 255 - Default Value: 0 - Units: Default Rates: - CAN: 4.0 Hz This refreshes and returns a cached StatusSignal object. :param refresh: Whether to refresh the StatusSignal before returning it; defaults to true :type refresh: bool :returns: VersionMinor Status Signal Object :rtype: StatusSignal[int] .. py:method:: get_version_bugfix(refresh: bool = True) -> phoenix6.status_signal.StatusSignal[int] App Bugfix Version number. - Minimum Value: 0 - Maximum Value: 255 - Default Value: 0 - Units: Default Rates: - CAN: 4.0 Hz This refreshes and returns a cached StatusSignal object. :param refresh: Whether to refresh the StatusSignal before returning it; defaults to true :type refresh: bool :returns: VersionBugfix Status Signal Object :rtype: StatusSignal[int] .. py:method:: get_version_build(refresh: bool = True) -> phoenix6.status_signal.StatusSignal[int] App Build Version number. - Minimum Value: 0 - Maximum Value: 255 - Default Value: 0 - Units: Default Rates: - CAN: 4.0 Hz This refreshes and returns a cached StatusSignal object. :param refresh: Whether to refresh the StatusSignal before returning it; defaults to true :type refresh: bool :returns: VersionBuild Status Signal Object :rtype: StatusSignal[int] .. py:method:: get_version(refresh: bool = True) -> phoenix6.status_signal.StatusSignal[int] Full Version of firmware in device. The format is a four byte value. - Minimum Value: 0 - Maximum Value: 4294967295 - Default Value: 0 - Units: Default Rates: - CAN: 4.0 Hz This refreshes and returns a cached StatusSignal object. :param refresh: Whether to refresh the StatusSignal before returning it; defaults to true :type refresh: bool :returns: Version Status Signal Object :rtype: StatusSignal[int] .. py:method:: get_fault_field(refresh: bool = True) -> phoenix6.status_signal.StatusSignal[int] Integer representing all fault flags reported by the device. These are device specific and are not used directly in typical applications. Use the signal specific GetFault_*() methods instead. - Minimum Value: 0 - Maximum Value: 4294967295 - Default Value: 0 - Units: Default Rates: - CAN: 4.0 Hz This refreshes and returns a cached StatusSignal object. :param refresh: Whether to refresh the StatusSignal before returning it; defaults to true :type refresh: bool :returns: FaultField Status Signal Object :rtype: StatusSignal[int] .. py:method:: get_sticky_fault_field(refresh: bool = True) -> phoenix6.status_signal.StatusSignal[int] Integer representing all (persistent) sticky fault flags reported by the device. These are device specific and are not used directly in typical applications. Use the signal specific GetStickyFault_*() methods instead. - Minimum Value: 0 - Maximum Value: 4294967295 - Default Value: 0 - Units: Default Rates: - CAN: 4.0 Hz This refreshes and returns a cached StatusSignal object. :param refresh: Whether to refresh the StatusSignal before returning it; defaults to true :type refresh: bool :returns: StickyFaultField Status Signal Object :rtype: StatusSignal[int] .. py:method:: get_is_pro_licensed(refresh: bool = True) -> phoenix6.status_signal.StatusSignal[bool] Whether the device is Phoenix Pro licensed. - Default Value: False Default Rates: - CAN: 4.0 Hz This refreshes and returns a cached StatusSignal object. :param refresh: Whether to refresh the StatusSignal before returning it; defaults to true :type refresh: bool :returns: IsProLicensed Status Signal Object :rtype: StatusSignal[bool] .. py:method:: get_s1_state(refresh: bool = True) -> phoenix6.status_signal.StatusSignal[phoenix6.signals.spn_enums.S1StateValue] State of the Signal 1 input (S1IN). Default Rates: - CAN 2.0: 100.0 Hz - CAN FD: 100.0 Hz (TimeSynced with Pro) This refreshes and returns a cached StatusSignal object. :param refresh: Whether to refresh the StatusSignal before returning it; defaults to true :type refresh: bool :returns: S1State Status Signal Object :rtype: StatusSignal[S1StateValue] .. py:method:: get_s2_state(refresh: bool = True) -> phoenix6.status_signal.StatusSignal[phoenix6.signals.spn_enums.S2StateValue] State of the Signal 2 input (S2IN). Default Rates: - CAN 2.0: 100.0 Hz - CAN FD: 100.0 Hz (TimeSynced with Pro) This refreshes and returns a cached StatusSignal object. :param refresh: Whether to refresh the StatusSignal before returning it; defaults to true :type refresh: bool :returns: S2State Status Signal Object :rtype: StatusSignal[S2StateValue] .. py:method:: get_quadrature_position(refresh: bool = True) -> phoenix6.status_signal.StatusSignal[phoenix6.units.rotation] Position from a quadrature encoder sensor connected to both the S1IN and S2IN inputs. - Minimum Value: -16384.0 - Maximum Value: 16383.999755859375 - Default Value: 0 - Units: rotations Default Rates: - CAN 2.0: 20.0 Hz - CAN FD: 100.0 Hz (TimeSynced with Pro) This refreshes and returns a cached StatusSignal object. :param refresh: Whether to refresh the StatusSignal before returning it; defaults to true :type refresh: bool :returns: QuadraturePosition Status Signal Object :rtype: StatusSignal[rotation] .. py:method:: get_pwm1_rise_to_rise(refresh: bool = True) -> phoenix6.status_signal.StatusSignal[phoenix6.units.microsecond] Measured rise to rise time of the PWM signal at the S1 input of the CTR Electronics' CANdi™. - Minimum Value: 0 - Maximum Value: 131070 - Default Value: 0 - Units: us Default Rates: - CAN 2.0: 20.0 Hz - CAN FD: 100.0 Hz (TimeSynced with Pro) This refreshes and returns a cached StatusSignal object. :param refresh: Whether to refresh the StatusSignal before returning it; defaults to true :type refresh: bool :returns: PWM1RiseToRise Status Signal Object :rtype: StatusSignal[microsecond] .. py:method:: get_pwm1_position(refresh: bool = True) -> phoenix6.status_signal.StatusSignal[phoenix6.units.rotation] Measured position of the PWM sensor at the S1 input of the CTR Electronics' CANdi™. - Minimum Value: -16384.0 - Maximum Value: 16383.999755859375 - Default Value: 0 - Units: rotations Default Rates: - CAN 2.0: 20.0 Hz - CAN FD: 100.0 Hz (TimeSynced with Pro) This refreshes and returns a cached StatusSignal object. :param refresh: Whether to refresh the StatusSignal before returning it; defaults to true :type refresh: bool :returns: PWM1Position Status Signal Object :rtype: StatusSignal[rotation] .. py:method:: get_pwm1_velocity(refresh: bool = True) -> phoenix6.status_signal.StatusSignal[phoenix6.units.rotations_per_second] Measured velocity of the PWM sensor at the S1 input of the CTR Electronics' CANdi™. - Minimum Value: -512.0 - Maximum Value: 511.998046875 - Default Value: 0 - Units: rotations per second Default Rates: - CAN 2.0: 20.0 Hz - CAN FD: 100.0 Hz (TimeSynced with Pro) This refreshes and returns a cached StatusSignal object. :param refresh: Whether to refresh the StatusSignal before returning it; defaults to true :type refresh: bool :returns: PWM1Velocity Status Signal Object :rtype: StatusSignal[rotations_per_second] .. py:method:: get_pwm2_rise_to_rise(refresh: bool = True) -> phoenix6.status_signal.StatusSignal[phoenix6.units.microsecond] Measured rise to rise time of the PWM signal at the S2 input of the CTR Electronics' CANdi™. - Minimum Value: 0 - Maximum Value: 131070 - Default Value: 0 - Units: us Default Rates: - CAN 2.0: 20.0 Hz - CAN FD: 100.0 Hz (TimeSynced with Pro) This refreshes and returns a cached StatusSignal object. :param refresh: Whether to refresh the StatusSignal before returning it; defaults to true :type refresh: bool :returns: PWM2RiseToRise Status Signal Object :rtype: StatusSignal[microsecond] .. py:method:: get_pwm2_position(refresh: bool = True) -> phoenix6.status_signal.StatusSignal[phoenix6.units.rotation] Measured position of the PWM sensor at the S2 input of the CTR Electronics' CANdi™. - Minimum Value: -16384.0 - Maximum Value: 16383.999755859375 - Default Value: 0 - Units: rotations Default Rates: - CAN 2.0: 20.0 Hz - CAN FD: 100.0 Hz (TimeSynced with Pro) This refreshes and returns a cached StatusSignal object. :param refresh: Whether to refresh the StatusSignal before returning it; defaults to true :type refresh: bool :returns: PWM2Position Status Signal Object :rtype: StatusSignal[rotation] .. py:method:: get_overcurrent(refresh: bool = True) -> phoenix6.status_signal.StatusSignal[bool] True when the CANdi™ is in overcurrent protection mode. This may be due to either overcurrent or a short-circuit. - Default Value: 0 Default Rates: - CAN 2.0: 100.0 Hz - CAN FD: 100.0 Hz (TimeSynced with Pro) This refreshes and returns a cached StatusSignal object. :param refresh: Whether to refresh the StatusSignal before returning it; defaults to true :type refresh: bool :returns: Overcurrent Status Signal Object :rtype: StatusSignal[bool] .. py:method:: get_supply_voltage(refresh: bool = True) -> phoenix6.status_signal.StatusSignal[phoenix6.units.volt] Measured supply voltage to the CANdi™. - Minimum Value: 4.0 - Maximum Value: 29.5 - Default Value: 0 - Units: V Default Rates: - CAN 2.0: 100.0 Hz - CAN FD: 100.0 Hz (TimeSynced with Pro) This refreshes and returns a cached StatusSignal object. :param refresh: Whether to refresh the StatusSignal before returning it; defaults to true :type refresh: bool :returns: SupplyVoltage Status Signal Object :rtype: StatusSignal[volt] .. py:method:: get_output_current(refresh: bool = True) -> phoenix6.status_signal.StatusSignal[phoenix6.units.ampere] Measured output current. This includes both Vbat and 5V output current. - Minimum Value: 0.0 - Maximum Value: 0.51 - Default Value: 0 - Units: A Default Rates: - CAN 2.0: 100.0 Hz - CAN FD: 100.0 Hz (TimeSynced with Pro) This refreshes and returns a cached StatusSignal object. :param refresh: Whether to refresh the StatusSignal before returning it; defaults to true :type refresh: bool :returns: OutputCurrent Status Signal Object :rtype: StatusSignal[ampere] .. py:method:: get_pwm2_velocity(refresh: bool = True) -> phoenix6.status_signal.StatusSignal[phoenix6.units.rotations_per_second] Measured velocity of the PWM sensor at the S2 input of the CTR Electronics' CANdi™. - Minimum Value: -512.0 - Maximum Value: 511.998046875 - Default Value: 0 - Units: rotations per second Default Rates: - CAN 2.0: 20.0 Hz - CAN FD: 100.0 Hz (TimeSynced with Pro) This refreshes and returns a cached StatusSignal object. :param refresh: Whether to refresh the StatusSignal before returning it; defaults to true :type refresh: bool :returns: PWM2Velocity Status Signal Object :rtype: StatusSignal[rotations_per_second] .. py:method:: get_quadrature_velocity(refresh: bool = True) -> phoenix6.status_signal.StatusSignal[phoenix6.units.rotations_per_second] Velocity from a quadrature encoder sensor connected to both the S1IN and S2IN inputs. - Minimum Value: -512.0 - Maximum Value: 511.998046875 - Default Value: 0 - Units: rotations per second Default Rates: - CAN 2.0: 20.0 Hz - CAN FD: 100.0 Hz (TimeSynced with Pro) This refreshes and returns a cached StatusSignal object. :param refresh: Whether to refresh the StatusSignal before returning it; defaults to true :type refresh: bool :returns: QuadratureVelocity Status Signal Object :rtype: StatusSignal[rotations_per_second] .. py:method:: get_s1_closed(refresh: bool = True) -> phoenix6.status_signal.StatusSignal[bool] True if the Signal 1 input (S1IN) matches the configured S1 Closed State. Configure the S1 closed state in the Digitals configuration object to change when this is asserted. - Default Value: False Default Rates: - CAN 2.0: 100.0 Hz - CAN FD: 100.0 Hz (TimeSynced with Pro) This refreshes and returns a cached StatusSignal object. :param refresh: Whether to refresh the StatusSignal before returning it; defaults to true :type refresh: bool :returns: S1Closed Status Signal Object :rtype: StatusSignal[bool] .. py:method:: get_s2_closed(refresh: bool = True) -> phoenix6.status_signal.StatusSignal[bool] True if the Signal 2 input (S2IN) matches the configured S2 Closed State. Configure the S2 closed state in the Digitals configuration object to change when this is asserted. - Default Value: False Default Rates: - CAN 2.0: 100.0 Hz - CAN FD: 100.0 Hz (TimeSynced with Pro) This refreshes and returns a cached StatusSignal object. :param refresh: Whether to refresh the StatusSignal before returning it; defaults to true :type refresh: bool :returns: S2Closed Status Signal Object :rtype: StatusSignal[bool] .. py:method:: get_fault_hardware(refresh: bool = True) -> phoenix6.status_signal.StatusSignal[bool] Hardware fault occurred - Default Value: False Default Rates: - CAN: 4.0 Hz This refreshes and returns a cached StatusSignal object. :param refresh: Whether to refresh the StatusSignal before returning it; defaults to true :type refresh: bool :returns: Fault_Hardware Status Signal Object :rtype: StatusSignal[bool] .. py:method:: get_sticky_fault_hardware(refresh: bool = True) -> phoenix6.status_signal.StatusSignal[bool] Hardware fault occurred - Default Value: False Default Rates: - CAN: 4.0 Hz This refreshes and returns a cached StatusSignal object. :param refresh: Whether to refresh the StatusSignal before returning it; defaults to true :type refresh: bool :returns: StickyFault_Hardware Status Signal Object :rtype: StatusSignal[bool] .. py:method:: get_fault_undervoltage(refresh: bool = True) -> phoenix6.status_signal.StatusSignal[bool] Device supply voltage dropped to near brownout levels - Default Value: False Default Rates: - CAN: 4.0 Hz This refreshes and returns a cached StatusSignal object. :param refresh: Whether to refresh the StatusSignal before returning it; defaults to true :type refresh: bool :returns: Fault_Undervoltage Status Signal Object :rtype: StatusSignal[bool] .. py:method:: get_sticky_fault_undervoltage(refresh: bool = True) -> phoenix6.status_signal.StatusSignal[bool] Device supply voltage dropped to near brownout levels - Default Value: False Default Rates: - CAN: 4.0 Hz This refreshes and returns a cached StatusSignal object. :param refresh: Whether to refresh the StatusSignal before returning it; defaults to true :type refresh: bool :returns: StickyFault_Undervoltage Status Signal Object :rtype: StatusSignal[bool] .. py:method:: get_fault_boot_during_enable(refresh: bool = True) -> phoenix6.status_signal.StatusSignal[bool] Device boot while detecting the enable signal - Default Value: False Default Rates: - CAN: 4.0 Hz This refreshes and returns a cached StatusSignal object. :param refresh: Whether to refresh the StatusSignal before returning it; defaults to true :type refresh: bool :returns: Fault_BootDuringEnable Status Signal Object :rtype: StatusSignal[bool] .. py:method:: get_sticky_fault_boot_during_enable(refresh: bool = True) -> phoenix6.status_signal.StatusSignal[bool] Device boot while detecting the enable signal - Default Value: False Default Rates: - CAN: 4.0 Hz This refreshes and returns a cached StatusSignal object. :param refresh: Whether to refresh the StatusSignal before returning it; defaults to true :type refresh: bool :returns: StickyFault_BootDuringEnable Status Signal Object :rtype: StatusSignal[bool] .. py:method:: get_fault_unlicensed_feature_in_use(refresh: bool = True) -> phoenix6.status_signal.StatusSignal[bool] An unlicensed feature is in use, device may not behave as expected. - Default Value: False Default Rates: - CAN: 4.0 Hz This refreshes and returns a cached StatusSignal object. :param refresh: Whether to refresh the StatusSignal before returning it; defaults to true :type refresh: bool :returns: Fault_UnlicensedFeatureInUse Status Signal Object :rtype: StatusSignal[bool] .. py:method:: get_sticky_fault_unlicensed_feature_in_use(refresh: bool = True) -> phoenix6.status_signal.StatusSignal[bool] An unlicensed feature is in use, device may not behave as expected. - Default Value: False Default Rates: - CAN: 4.0 Hz This refreshes and returns a cached StatusSignal object. :param refresh: Whether to refresh the StatusSignal before returning it; defaults to true :type refresh: bool :returns: StickyFault_UnlicensedFeatureInUse Status Signal Object :rtype: StatusSignal[bool] .. py:method:: get_fault_5_v(refresh: bool = True) -> phoenix6.status_signal.StatusSignal[bool] The CTR Electronics' CANdi™ branded device has detected a 5V fault. This may be due to overcurrent or a short-circuit. - Default Value: False Default Rates: - CAN: 4.0 Hz This refreshes and returns a cached StatusSignal object. :param refresh: Whether to refresh the StatusSignal before returning it; defaults to true :type refresh: bool :returns: Fault_5V Status Signal Object :rtype: StatusSignal[bool] .. py:method:: get_sticky_fault_5_v(refresh: bool = True) -> phoenix6.status_signal.StatusSignal[bool] The CTR Electronics' CANdi™ branded device has detected a 5V fault. This may be due to overcurrent or a short-circuit. - Default Value: False Default Rates: - CAN: 4.0 Hz This refreshes and returns a cached StatusSignal object. :param refresh: Whether to refresh the StatusSignal before returning it; defaults to true :type refresh: bool :returns: StickyFault_5V Status Signal Object :rtype: StatusSignal[bool] .. py:method:: set_quadrature_position(new_value: phoenix6.units.rotation, timeout_seconds: phoenix6.units.second = 0.1) -> phoenix6.status_code.StatusCode Sets the position of the quadrature input. :param new_value: Value to set to. Units are in rotations. :type new_value: rotation :param timeout_seconds: Maximum time to wait up to in seconds. :type timeout_seconds: second :returns: StatusCode of the set command :rtype: StatusCode .. py:method:: clear_sticky_faults(timeout_seconds: phoenix6.units.second = 0.1) -> phoenix6.status_code.StatusCode Clear the sticky faults in the device. This typically has no impact on the device functionality. Instead, it just clears telemetry faults that are accessible via API and Tuner Self-Test. :param timeout_seconds: Maximum time to wait up to in seconds. :type timeout_seconds: second :returns: StatusCode of the set command :rtype: StatusCode .. py:method:: clear_sticky_fault_hardware(timeout_seconds: phoenix6.units.second = 0.1) -> phoenix6.status_code.StatusCode Clear sticky fault: Hardware fault occurred :param timeout_seconds: Maximum time to wait up to in seconds. :type timeout_seconds: second :returns: StatusCode of the set command :rtype: StatusCode .. py:method:: clear_sticky_fault_undervoltage(timeout_seconds: phoenix6.units.second = 0.1) -> phoenix6.status_code.StatusCode Clear sticky fault: Device supply voltage dropped to near brownout levels :param timeout_seconds: Maximum time to wait up to in seconds. :type timeout_seconds: second :returns: StatusCode of the set command :rtype: StatusCode .. py:method:: clear_sticky_fault_boot_during_enable(timeout_seconds: phoenix6.units.second = 0.1) -> phoenix6.status_code.StatusCode Clear sticky fault: Device boot while detecting the enable signal :param timeout_seconds: Maximum time to wait up to in seconds. :type timeout_seconds: second :returns: StatusCode of the set command :rtype: StatusCode .. py:method:: clear_sticky_fault_unlicensed_feature_in_use(timeout_seconds: phoenix6.units.second = 0.1) -> phoenix6.status_code.StatusCode Clear sticky fault: An unlicensed feature is in use, device may not behave as expected. :param timeout_seconds: Maximum time to wait up to in seconds. :type timeout_seconds: second :returns: StatusCode of the set command :rtype: StatusCode .. py:method:: clear_sticky_fault_5_v(timeout_seconds: phoenix6.units.second = 0.1) -> phoenix6.status_code.StatusCode Clear sticky fault: The CTR Electronics' CANdi™ branded device has detected a 5V fault. This may be due to overcurrent or a short-circuit. :param timeout_seconds: Maximum time to wait up to in seconds. :type timeout_seconds: second :returns: StatusCode of the set command :rtype: StatusCode .. py:class:: CoreCANdle(device_id: int, canbus: phoenix6.canbus.CANBus | str = CANBus()) Bases: :py:obj:`phoenix6.hardware.parent_device.ParentDevice` Class for CTR Electronics' CANdle® branded device, a device that controls LEDs over the CAN bus. Constructs a new CANdle object. .. versionchanged:: 2026 Constructing devices with a CAN bus string is deprecated for removal in the 2027 season. Construct devices using a CANBus instance instead. :param device_id: ID of the device, as configured in Phoenix Tuner :type device_id: int :param canbus: 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 :type canbus: CANBus | str, optional .. py:property:: sim_state :type: phoenix6.sim.candle_sim_state.CANdleSimState Get the simulation state for this device. This function reuses an allocated simulation state object, so it is safe to call this function multiple times in a robot loop. :returns: Simulation state :rtype: CANdleSimState .. py:attribute:: Configuration The configuration class for this device. .. py:attribute:: configurator .. py:method:: none() :classmethod: Constructs a stubbed-out CoreCANdle, where all status signals, controls, configs, etc. perform no action and immediately return OK. This can be used to silence error messages for devices that have been completely removed from the robot. :returns: Stubbed-out CoreCANdle :rtype: CoreCANdle .. py:method:: get_version_major(refresh: bool = True) -> phoenix6.status_signal.StatusSignal[int] App Major Version number. - Minimum Value: 0 - Maximum Value: 255 - Default Value: 0 - Units: Default Rates: - CAN: 4.0 Hz This refreshes and returns a cached StatusSignal object. :param refresh: Whether to refresh the StatusSignal before returning it; defaults to true :type refresh: bool :returns: VersionMajor Status Signal Object :rtype: StatusSignal[int] .. py:method:: get_version_minor(refresh: bool = True) -> phoenix6.status_signal.StatusSignal[int] App Minor Version number. - Minimum Value: 0 - Maximum Value: 255 - Default Value: 0 - Units: Default Rates: - CAN: 4.0 Hz This refreshes and returns a cached StatusSignal object. :param refresh: Whether to refresh the StatusSignal before returning it; defaults to true :type refresh: bool :returns: VersionMinor Status Signal Object :rtype: StatusSignal[int] .. py:method:: get_version_bugfix(refresh: bool = True) -> phoenix6.status_signal.StatusSignal[int] App Bugfix Version number. - Minimum Value: 0 - Maximum Value: 255 - Default Value: 0 - Units: Default Rates: - CAN: 4.0 Hz This refreshes and returns a cached StatusSignal object. :param refresh: Whether to refresh the StatusSignal before returning it; defaults to true :type refresh: bool :returns: VersionBugfix Status Signal Object :rtype: StatusSignal[int] .. py:method:: get_version_build(refresh: bool = True) -> phoenix6.status_signal.StatusSignal[int] App Build Version number. - Minimum Value: 0 - Maximum Value: 255 - Default Value: 0 - Units: Default Rates: - CAN: 4.0 Hz This refreshes and returns a cached StatusSignal object. :param refresh: Whether to refresh the StatusSignal before returning it; defaults to true :type refresh: bool :returns: VersionBuild Status Signal Object :rtype: StatusSignal[int] .. py:method:: get_version(refresh: bool = True) -> phoenix6.status_signal.StatusSignal[int] Full Version of firmware in device. The format is a four byte value. - Minimum Value: 0 - Maximum Value: 4294967295 - Default Value: 0 - Units: Default Rates: - CAN: 4.0 Hz This refreshes and returns a cached StatusSignal object. :param refresh: Whether to refresh the StatusSignal before returning it; defaults to true :type refresh: bool :returns: Version Status Signal Object :rtype: StatusSignal[int] .. py:method:: get_fault_field(refresh: bool = True) -> phoenix6.status_signal.StatusSignal[int] Integer representing all fault flags reported by the device. These are device specific and are not used directly in typical applications. Use the signal specific GetFault_*() methods instead. - Minimum Value: 0 - Maximum Value: 4294967295 - Default Value: 0 - Units: Default Rates: - CAN: 4.0 Hz This refreshes and returns a cached StatusSignal object. :param refresh: Whether to refresh the StatusSignal before returning it; defaults to true :type refresh: bool :returns: FaultField Status Signal Object :rtype: StatusSignal[int] .. py:method:: get_sticky_fault_field(refresh: bool = True) -> phoenix6.status_signal.StatusSignal[int] Integer representing all (persistent) sticky fault flags reported by the device. These are device specific and are not used directly in typical applications. Use the signal specific GetStickyFault_*() methods instead. - Minimum Value: 0 - Maximum Value: 4294967295 - Default Value: 0 - Units: Default Rates: - CAN: 4.0 Hz This refreshes and returns a cached StatusSignal object. :param refresh: Whether to refresh the StatusSignal before returning it; defaults to true :type refresh: bool :returns: StickyFaultField Status Signal Object :rtype: StatusSignal[int] .. py:method:: get_is_pro_licensed(refresh: bool = True) -> phoenix6.status_signal.StatusSignal[bool] Whether the device is Phoenix Pro licensed. - Default Value: False Default Rates: - CAN: 4.0 Hz This refreshes and returns a cached StatusSignal object. :param refresh: Whether to refresh the StatusSignal before returning it; defaults to true :type refresh: bool :returns: IsProLicensed Status Signal Object :rtype: StatusSignal[bool] .. py:method:: get_supply_voltage(refresh: bool = True) -> phoenix6.status_signal.StatusSignal[phoenix6.units.volt] Measured supply voltage to the CANdle. - Minimum Value: 0.0 - Maximum Value: 32.767 - Default Value: 0 - Units: V Default Rates: - CAN 2.0: 10.0 Hz - CAN FD: 10.0 Hz (TimeSynced with Pro) This refreshes and returns a cached StatusSignal object. :param refresh: Whether to refresh the StatusSignal before returning it; defaults to true :type refresh: bool :returns: SupplyVoltage Status Signal Object :rtype: StatusSignal[volt] .. py:method:: get_five_v_rail_voltage(refresh: bool = True) -> phoenix6.status_signal.StatusSignal[phoenix6.units.volt] The measured voltage of the 5V rail line. - Minimum Value: 0.0 - Maximum Value: 10.23 - Default Value: 0 - Units: V Default Rates: - CAN 2.0: 10.0 Hz - CAN FD: 10.0 Hz (TimeSynced with Pro) This refreshes and returns a cached StatusSignal object. :param refresh: Whether to refresh the StatusSignal before returning it; defaults to true :type refresh: bool :returns: FiveVRailVoltage Status Signal Object :rtype: StatusSignal[volt] .. py:method:: get_output_current(refresh: bool = True) -> phoenix6.status_signal.StatusSignal[phoenix6.units.ampere] The measured output current. This includes both VBat and 5V output current. - Minimum Value: 0.0 - Maximum Value: 10.23 - Default Value: 0 - Units: A Default Rates: - CAN 2.0: 10.0 Hz - CAN FD: 10.0 Hz (TimeSynced with Pro) This refreshes and returns a cached StatusSignal object. :param refresh: Whether to refresh the StatusSignal before returning it; defaults to true :type refresh: bool :returns: OutputCurrent Status Signal Object :rtype: StatusSignal[ampere] .. py:method:: get_device_temp(refresh: bool = True) -> phoenix6.status_signal.StatusSignal[phoenix6.units.celsius] The temperature that the CANdle measures itself to be at. - Minimum Value: -128 - Maximum Value: 127 - Default Value: 0 - Units: ℃ Default Rates: - CAN 2.0: 10.0 Hz - CAN FD: 10.0 Hz (TimeSynced with Pro) This refreshes and returns a cached StatusSignal object. :param refresh: Whether to refresh the StatusSignal before returning it; defaults to true :type refresh: bool :returns: DeviceTemp Status Signal Object :rtype: StatusSignal[celsius] .. py:method:: get_v_bat_modulation(refresh: bool = True) -> phoenix6.status_signal.StatusSignal[float] The applied VBat modulation duty cycle. This signal will report 1.0 if the VBatOutputMode is configured to be always on, and 0.0 if configured to be always off. Otherwise, this will report the applied modulation from the last ModulateVBatOut request. - Minimum Value: 0.0 - Maximum Value: 1.0 - Default Value: 0 - Units: frac Default Rates: - CAN 2.0: 10.0 Hz - CAN FD: 10.0 Hz (TimeSynced with Pro) This refreshes and returns a cached StatusSignal object. :param refresh: Whether to refresh the StatusSignal before returning it; defaults to true :type refresh: bool :returns: VBatModulation Status Signal Object :rtype: StatusSignal[float] .. py:method:: get_max_simultaneous_animation_count(refresh: bool = True) -> phoenix6.status_signal.StatusSignal[int] The maximum number of simultaneous animations supported by the current version of CANdle firmware. Any control request using an animation slot greater than or equal to this signal will be ignored. - Minimum Value: 0 - Maximum Value: 31 - Default Value: 0 - Units: Default Rates: - CAN 2.0: 10.0 Hz - CAN FD: 10.0 Hz (TimeSynced with Pro) This refreshes and returns a cached StatusSignal object. :param refresh: Whether to refresh the StatusSignal before returning it; defaults to true :type refresh: bool :returns: MaxSimultaneousAnimationCount Status Signal Object :rtype: StatusSignal[int] .. py:method:: get_fault_hardware(refresh: bool = True) -> phoenix6.status_signal.StatusSignal[bool] Hardware fault occurred - Default Value: False Default Rates: - CAN: 4.0 Hz This refreshes and returns a cached StatusSignal object. :param refresh: Whether to refresh the StatusSignal before returning it; defaults to true :type refresh: bool :returns: Fault_Hardware Status Signal Object :rtype: StatusSignal[bool] .. py:method:: get_sticky_fault_hardware(refresh: bool = True) -> phoenix6.status_signal.StatusSignal[bool] Hardware fault occurred - Default Value: False Default Rates: - CAN: 4.0 Hz This refreshes and returns a cached StatusSignal object. :param refresh: Whether to refresh the StatusSignal before returning it; defaults to true :type refresh: bool :returns: StickyFault_Hardware Status Signal Object :rtype: StatusSignal[bool] .. py:method:: get_fault_undervoltage(refresh: bool = True) -> phoenix6.status_signal.StatusSignal[bool] Device supply voltage dropped to near brownout levels - Default Value: False Default Rates: - CAN: 4.0 Hz This refreshes and returns a cached StatusSignal object. :param refresh: Whether to refresh the StatusSignal before returning it; defaults to true :type refresh: bool :returns: Fault_Undervoltage Status Signal Object :rtype: StatusSignal[bool] .. py:method:: get_sticky_fault_undervoltage(refresh: bool = True) -> phoenix6.status_signal.StatusSignal[bool] Device supply voltage dropped to near brownout levels - Default Value: False Default Rates: - CAN: 4.0 Hz This refreshes and returns a cached StatusSignal object. :param refresh: Whether to refresh the StatusSignal before returning it; defaults to true :type refresh: bool :returns: StickyFault_Undervoltage Status Signal Object :rtype: StatusSignal[bool] .. py:method:: get_fault_boot_during_enable(refresh: bool = True) -> phoenix6.status_signal.StatusSignal[bool] Device boot while detecting the enable signal - Default Value: False Default Rates: - CAN: 4.0 Hz This refreshes and returns a cached StatusSignal object. :param refresh: Whether to refresh the StatusSignal before returning it; defaults to true :type refresh: bool :returns: Fault_BootDuringEnable Status Signal Object :rtype: StatusSignal[bool] .. py:method:: get_sticky_fault_boot_during_enable(refresh: bool = True) -> phoenix6.status_signal.StatusSignal[bool] Device boot while detecting the enable signal - Default Value: False Default Rates: - CAN: 4.0 Hz This refreshes and returns a cached StatusSignal object. :param refresh: Whether to refresh the StatusSignal before returning it; defaults to true :type refresh: bool :returns: StickyFault_BootDuringEnable Status Signal Object :rtype: StatusSignal[bool] .. py:method:: get_fault_unlicensed_feature_in_use(refresh: bool = True) -> phoenix6.status_signal.StatusSignal[bool] An unlicensed feature is in use, device may not behave as expected. - Default Value: False Default Rates: - CAN: 4.0 Hz This refreshes and returns a cached StatusSignal object. :param refresh: Whether to refresh the StatusSignal before returning it; defaults to true :type refresh: bool :returns: Fault_UnlicensedFeatureInUse Status Signal Object :rtype: StatusSignal[bool] .. py:method:: get_sticky_fault_unlicensed_feature_in_use(refresh: bool = True) -> phoenix6.status_signal.StatusSignal[bool] An unlicensed feature is in use, device may not behave as expected. - Default Value: False Default Rates: - CAN: 4.0 Hz This refreshes and returns a cached StatusSignal object. :param refresh: Whether to refresh the StatusSignal before returning it; defaults to true :type refresh: bool :returns: StickyFault_UnlicensedFeatureInUse Status Signal Object :rtype: StatusSignal[bool] .. py:method:: get_fault_overvoltage(refresh: bool = True) -> phoenix6.status_signal.StatusSignal[bool] Device supply voltage is too high (above 30 V). - Default Value: False Default Rates: - CAN: 4.0 Hz This refreshes and returns a cached StatusSignal object. :param refresh: Whether to refresh the StatusSignal before returning it; defaults to true :type refresh: bool :returns: Fault_Overvoltage Status Signal Object :rtype: StatusSignal[bool] .. py:method:: get_sticky_fault_overvoltage(refresh: bool = True) -> phoenix6.status_signal.StatusSignal[bool] Device supply voltage is too high (above 30 V). - Default Value: False Default Rates: - CAN: 4.0 Hz This refreshes and returns a cached StatusSignal object. :param refresh: Whether to refresh the StatusSignal before returning it; defaults to true :type refresh: bool :returns: StickyFault_Overvoltage Status Signal Object :rtype: StatusSignal[bool] .. py:method:: get_fault_5_v_too_high(refresh: bool = True) -> phoenix6.status_signal.StatusSignal[bool] Device 5V line is too high (above 6 V). - Default Value: False Default Rates: - CAN: 4.0 Hz This refreshes and returns a cached StatusSignal object. :param refresh: Whether to refresh the StatusSignal before returning it; defaults to true :type refresh: bool :returns: Fault_5VTooHigh Status Signal Object :rtype: StatusSignal[bool] .. py:method:: get_sticky_fault_5_v_too_high(refresh: bool = True) -> phoenix6.status_signal.StatusSignal[bool] Device 5V line is too high (above 6 V). - Default Value: False Default Rates: - CAN: 4.0 Hz This refreshes and returns a cached StatusSignal object. :param refresh: Whether to refresh the StatusSignal before returning it; defaults to true :type refresh: bool :returns: StickyFault_5VTooHigh Status Signal Object :rtype: StatusSignal[bool] .. py:method:: get_fault_5_v_too_low(refresh: bool = True) -> phoenix6.status_signal.StatusSignal[bool] Device 5V line is too low (below 4 V). - Default Value: False Default Rates: - CAN: 4.0 Hz This refreshes and returns a cached StatusSignal object. :param refresh: Whether to refresh the StatusSignal before returning it; defaults to true :type refresh: bool :returns: Fault_5VTooLow Status Signal Object :rtype: StatusSignal[bool] .. py:method:: get_sticky_fault_5_v_too_low(refresh: bool = True) -> phoenix6.status_signal.StatusSignal[bool] Device 5V line is too low (below 4 V). - Default Value: False Default Rates: - CAN: 4.0 Hz This refreshes and returns a cached StatusSignal object. :param refresh: Whether to refresh the StatusSignal before returning it; defaults to true :type refresh: bool :returns: StickyFault_5VTooLow Status Signal Object :rtype: StatusSignal[bool] .. py:method:: get_fault_thermal(refresh: bool = True) -> phoenix6.status_signal.StatusSignal[bool] Device temperature exceeded limit. - Default Value: False Default Rates: - CAN: 4.0 Hz This refreshes and returns a cached StatusSignal object. :param refresh: Whether to refresh the StatusSignal before returning it; defaults to true :type refresh: bool :returns: Fault_Thermal Status Signal Object :rtype: StatusSignal[bool] .. py:method:: get_sticky_fault_thermal(refresh: bool = True) -> phoenix6.status_signal.StatusSignal[bool] Device temperature exceeded limit. - Default Value: False Default Rates: - CAN: 4.0 Hz This refreshes and returns a cached StatusSignal object. :param refresh: Whether to refresh the StatusSignal before returning it; defaults to true :type refresh: bool :returns: StickyFault_Thermal Status Signal Object :rtype: StatusSignal[bool] .. py:method:: get_fault_software_fuse(refresh: bool = True) -> phoenix6.status_signal.StatusSignal[bool] CANdle output current exceeded the 6 A limit. - Default Value: False Default Rates: - CAN: 4.0 Hz This refreshes and returns a cached StatusSignal object. :param refresh: Whether to refresh the StatusSignal before returning it; defaults to true :type refresh: bool :returns: Fault_SoftwareFuse Status Signal Object :rtype: StatusSignal[bool] .. py:method:: get_sticky_fault_software_fuse(refresh: bool = True) -> phoenix6.status_signal.StatusSignal[bool] CANdle output current exceeded the 6 A limit. - Default Value: False Default Rates: - CAN: 4.0 Hz This refreshes and returns a cached StatusSignal object. :param refresh: Whether to refresh the StatusSignal before returning it; defaults to true :type refresh: bool :returns: StickyFault_SoftwareFuse Status Signal Object :rtype: StatusSignal[bool] .. py:method:: get_fault_short_circuit(refresh: bool = True) -> phoenix6.status_signal.StatusSignal[bool] CANdle has detected the output pin is shorted. - Default Value: False Default Rates: - CAN: 4.0 Hz This refreshes and returns a cached StatusSignal object. :param refresh: Whether to refresh the StatusSignal before returning it; defaults to true :type refresh: bool :returns: Fault_ShortCircuit Status Signal Object :rtype: StatusSignal[bool] .. py:method:: get_sticky_fault_short_circuit(refresh: bool = True) -> phoenix6.status_signal.StatusSignal[bool] CANdle has detected the output pin is shorted. - Default Value: False Default Rates: - CAN: 4.0 Hz This refreshes and returns a cached StatusSignal object. :param refresh: Whether to refresh the StatusSignal before returning it; defaults to true :type refresh: bool :returns: StickyFault_ShortCircuit Status Signal Object :rtype: StatusSignal[bool] .. py:method:: set_control(request: phoenix6.controls.modulate_v_bat_out.ModulateVBatOut) -> phoenix6.status_code.StatusCode set_control(request: phoenix6.controls.solid_color.SolidColor) -> phoenix6.status_code.StatusCode set_control(request: phoenix6.controls.empty_animation.EmptyAnimation) -> phoenix6.status_code.StatusCode set_control(request: phoenix6.controls.color_flow_animation.ColorFlowAnimation) -> phoenix6.status_code.StatusCode set_control(request: phoenix6.controls.fire_animation.FireAnimation) -> phoenix6.status_code.StatusCode set_control(request: phoenix6.controls.larson_animation.LarsonAnimation) -> phoenix6.status_code.StatusCode set_control(request: phoenix6.controls.rainbow_animation.RainbowAnimation) -> phoenix6.status_code.StatusCode set_control(request: phoenix6.controls.rgb_fade_animation.RgbFadeAnimation) -> phoenix6.status_code.StatusCode set_control(request: phoenix6.controls.single_fade_animation.SingleFadeAnimation) -> phoenix6.status_code.StatusCode set_control(request: phoenix6.controls.strobe_animation.StrobeAnimation) -> phoenix6.status_code.StatusCode set_control(request: phoenix6.controls.twinkle_animation.TwinkleAnimation) -> phoenix6.status_code.StatusCode set_control(request: phoenix6.controls.twinkle_off_animation.TwinkleOffAnimation) -> phoenix6.status_code.StatusCode set_control(request: phoenix6.controls.empty_control.EmptyControl) -> phoenix6.status_code.StatusCode set_control(request: phoenix6.hardware.parent_device.SupportsSendRequest) -> phoenix6.status_code.StatusCode .. py:method:: clear_sticky_faults(timeout_seconds: phoenix6.units.second = 0.1) -> phoenix6.status_code.StatusCode Clear the sticky faults in the device. This typically has no impact on the device functionality. Instead, it just clears telemetry faults that are accessible via API and Tuner Self-Test. :param timeout_seconds: Maximum time to wait up to in seconds. :type timeout_seconds: second :returns: StatusCode of the set command :rtype: StatusCode .. py:method:: clear_sticky_fault_hardware(timeout_seconds: phoenix6.units.second = 0.1) -> phoenix6.status_code.StatusCode Clear sticky fault: Hardware fault occurred :param timeout_seconds: Maximum time to wait up to in seconds. :type timeout_seconds: second :returns: StatusCode of the set command :rtype: StatusCode .. py:method:: clear_sticky_fault_undervoltage(timeout_seconds: phoenix6.units.second = 0.1) -> phoenix6.status_code.StatusCode Clear sticky fault: Device supply voltage dropped to near brownout levels :param timeout_seconds: Maximum time to wait up to in seconds. :type timeout_seconds: second :returns: StatusCode of the set command :rtype: StatusCode .. py:method:: clear_sticky_fault_boot_during_enable(timeout_seconds: phoenix6.units.second = 0.1) -> phoenix6.status_code.StatusCode Clear sticky fault: Device boot while detecting the enable signal :param timeout_seconds: Maximum time to wait up to in seconds. :type timeout_seconds: second :returns: StatusCode of the set command :rtype: StatusCode .. py:method:: clear_sticky_fault_unlicensed_feature_in_use(timeout_seconds: phoenix6.units.second = 0.1) -> phoenix6.status_code.StatusCode Clear sticky fault: An unlicensed feature is in use, device may not behave as expected. :param timeout_seconds: Maximum time to wait up to in seconds. :type timeout_seconds: second :returns: StatusCode of the set command :rtype: StatusCode .. py:method:: clear_sticky_fault_overvoltage(timeout_seconds: phoenix6.units.second = 0.1) -> phoenix6.status_code.StatusCode Clear sticky fault: Device supply voltage is too high (above 30 V). :param timeout_seconds: Maximum time to wait up to in seconds. :type timeout_seconds: second :returns: StatusCode of the set command :rtype: StatusCode .. py:method:: clear_sticky_fault_5_v_too_high(timeout_seconds: phoenix6.units.second = 0.1) -> phoenix6.status_code.StatusCode Clear sticky fault: Device 5V line is too high (above 6 V). :param timeout_seconds: Maximum time to wait up to in seconds. :type timeout_seconds: second :returns: StatusCode of the set command :rtype: StatusCode .. py:method:: clear_sticky_fault_5_v_too_low(timeout_seconds: phoenix6.units.second = 0.1) -> phoenix6.status_code.StatusCode Clear sticky fault: Device 5V line is too low (below 4 V). :param timeout_seconds: Maximum time to wait up to in seconds. :type timeout_seconds: second :returns: StatusCode of the set command :rtype: StatusCode .. py:method:: clear_sticky_fault_thermal(timeout_seconds: phoenix6.units.second = 0.1) -> phoenix6.status_code.StatusCode Clear sticky fault: Device temperature exceeded limit. :param timeout_seconds: Maximum time to wait up to in seconds. :type timeout_seconds: second :returns: StatusCode of the set command :rtype: StatusCode .. py:method:: clear_sticky_fault_software_fuse(timeout_seconds: phoenix6.units.second = 0.1) -> phoenix6.status_code.StatusCode Clear sticky fault: CANdle output current exceeded the 6 A limit. :param timeout_seconds: Maximum time to wait up to in seconds. :type timeout_seconds: second :returns: StatusCode of the set command :rtype: StatusCode .. py:method:: clear_sticky_fault_short_circuit(timeout_seconds: phoenix6.units.second = 0.1) -> phoenix6.status_code.StatusCode Clear sticky fault: CANdle has detected the output pin is shorted. :param timeout_seconds: Maximum time to wait up to in seconds. :type timeout_seconds: second :returns: StatusCode of the set command :rtype: StatusCode