:py:mod:`phoenix6.sim.talon_fx_sim_state`
=========================================

.. py:module:: phoenix6.sim.talon_fx_sim_state

Module Contents
---------------


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


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

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

   For simulated PID control and current limits to behave correctly,
   self.set_raw_rotor_position and self.set_rotor_velocity must be updated
   periodically. This is typically done by sending the motor output from
   self.motor_voltage or self.torque_current to a physics simulator
   (such as WPILib's `DCMotorSim`), which then calculates the new motor
   position and velocity.

   :param device: Device to which this simulation state is attached
   :type device: CoreTalonFX
   :param orientation: Orientation of the device relative to the robot chassis
   :type orientation: ChassisReference

   .. py:class:: MotorType(*args, **kwds)


      Bases: :py:obj:`enum.Enum`

      Represents the type of motor connected to the simulated Talon FX.

      .. py:attribute:: KRAKEN_X60
         :value: '0'

         WCP Kraken X60


      .. py:attribute:: KRAKEN_X44
         :value: '1'

         WCP Kraken X44



   .. py:property:: last_status_code
      :type: phoenix6.status_code.StatusCode

      Gets the last status code generated by a simulation function.

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

      :returns: Last status code generated by a simulation function
      :rtype: StatusCode


   .. py:property:: motor_voltage
      :type: phoenix6.units.volt

      Gets the simulated output voltage of the motor.

      :returns: Voltage applied to the motor in Volts
      :rtype: volt


   .. py:property:: torque_current
      :type: phoenix6.units.ampere

      Gets the simulated output torque current of the motor.

      Phoenix 6 simulation automatically calculates current.

      :returns: Torque current applied to the motor in Amperes
      :rtype: ampere


   .. py:property:: supply_current
      :type: phoenix6.units.ampere

      Gets the simulated supply current of the TalonFX.

      Phoenix 6 simulation automatically calculates current.

      :returns: Supply current of the TalonFX in Amperes
      :rtype: ampere


   .. py:attribute:: orientation

      The orientation of the TalonFX relative to the robot chassis.

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


   .. py:method:: set_motor_type(motor_type: MotorType) -> phoenix6.status_code.StatusCode

      Sets the type of motor connected to the simulated Talon FX.

      :param motor_type: The type of motor connected
      :type motor_type: MotorType
      :returns: Status code
      :rtype: StatusCode


   .. py:method:: set_supply_voltage(volts: phoenix6.units.volt) -> phoenix6.status_code.StatusCode

      Sets the simulated supply voltage of the TalonFX.

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

      :param volts: The supply voltage in Volts
      :type volts: volt
      :returns: Status code
      :rtype: StatusCode


   .. py:method:: set_forward_limit(closed: bool) -> phoenix6.status_code.StatusCode

      Sets the simulated forward limit switch of the TalonFX.

      :param closed: Whether the limit switch is closed
      :type closed: bool
      :returns: Status code
      :rtype: StatusCode


   .. py:method:: set_reverse_limit(closed: bool) -> phoenix6.status_code.StatusCode

      Sets the simulated reverse limit switch of the TalonFX.

      :param closed: Whether the limit switch is closed
      :type closed: bool
      :returns: Status code
      :rtype: StatusCode


   .. py:method:: set_raw_rotor_position(rotations: phoenix6.units.rotation) -> phoenix6.status_code.StatusCode

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

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

      The TalonFX integrates this to calculate the true reported rotor position.

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

      :param rotations: The raw position in rotations
      :type rotations: rotation
      :returns: Status code
      :rtype: StatusCode


   .. py:method:: add_rotor_position(drotations: phoenix6.units.rotation) -> phoenix6.status_code.StatusCode

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

      :param drotations: The change in position in rotations
      :type drotations: rotation
      :returns: Status code
      :rtype: StatusCode


   .. py:method:: set_rotor_velocity(rps: phoenix6.units.rotations_per_second) -> phoenix6.status_code.StatusCode

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

      :param rps: The new velocity in rotations per second
      :type rps: rotations_per_second
      :returns: Status code
      :rtype: StatusCode


   .. py:method:: set_rotor_acceleration(rpss: phoenix6.units.rotations_per_second_squared) -> phoenix6.status_code.StatusCode

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

      :param rpss: The new acceleration in rotations per second²
      :type rpss: rotations_per_second_squared
      :returns: Status code
      :rtype: StatusCode