`phoenix6.mechanisms.simple_differential_mechanism`¶

Module Contents¶

Attributes¶

MotorT

phoenix6.mechanisms.simple_differential_mechanism.MotorT¶

class phoenix6.mechanisms.simple_differential_mechanism.SimpleDifferentialMechanism(motor_type: type[MotorT], constants: phoenix6.mechanisms.differential_constants.DifferentialMotorConstants, pigeon2: phoenix6.hardware.pigeon2.Pigeon2, pigeon_source: phoenix6.mechanisms.differential_constants.DifferentialPigeon2Source, /)

class phoenix6.mechanisms.simple_differential_mechanism.SimpleDifferentialMechanism(motor_type: type[MotorT], constants: phoenix6.mechanisms.differential_constants.DifferentialMotorConstants, cancoder: phoenix6.hardware.cancoder.CANcoder, /)

class phoenix6.mechanisms.simple_differential_mechanism.SimpleDifferentialMechanism(motor_type: type[MotorT], constants: phoenix6.mechanisms.differential_constants.DifferentialMotorConstants, candi: phoenix6.hardware.candi.CANdi, candi_source: phoenix6.mechanisms.differential_constants.DifferentialCANdiSource, /)

Bases: Generic[MotorT]

Manages control of a simple two-axis differential mechanism.

This mechanism provides limited differential functionality. Pro users on a CAN FD bus can use the DifferentialMechanism instead for full functionality.

A differential mechanism has two axes of motion, where the position along each axis is determined by two motors in separate gearboxes:

Driving both motors in a common direction causes the mechanism to move forward/reverse, up/down, etc.
- This is the Average axis: position is determined by the average of the two motors’ positions.
Driving the motors in opposing directions causes the mechanism to twist or rotate left/right.
- This is the Difference axis: rotation is determined by half the difference of the two motors’ positions.

class DisabledReasonValue(*args, **kwds)¶

Bases: enum.Enum

Possible reasons for the mechanism to disable.

NONE = '0'¶: No reason given.

MISSING_REMOTE_SENSOR = '1'¶: A remote sensor is not present on CAN Bus.

MISSING_DIFFERENTIAL_FX = '2'¶: The remote Talon FX used for differential control is not present on CAN Bus.

REMOTE_SENSOR_POS_OVERFLOW = '3'¶: A remote sensor position has overflowed. Because of the nature of remote sensors, it is possible for a 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.

DEVICE_HAS_RESET = '4'¶: A device or remote sensor has reset.

class RequiresUserReasonValue(*args, **kwds)¶

Bases: enum.Enum

Possible reasons for the mechanism to require user action to resume control.

NONE = '0'¶: No reason given.

REMOTE_SENSOR_POS_OVERFLOW = '1'¶: A remote sensor position has overflowed. Because of the nature of remote sensors, it is possible for a 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.

DEVICE_HAS_RESET = '2'¶: A device or remote sensor has reset.

property is_disabled: bool¶

Get whether the mechanism is currently disabled due to an issue.

Returns:: true if the mechanism is temporarily disabled
Return type:: bool

property requires_user_action: bool¶

Get whether the mechanism is currently disabled and requires user action to re-enable mechanism control.

Returns:: true if the mechanism is disabled and the user must manually perform an action
Return type:: bool

property mechanism_state: phoenix6.mechanisms.mechanism_state.MechanismState¶

Gets the state of the mechanism.

Returns:: MechanismState representing the state of the mechanism
Return type:: MechanismState

property disabled_reason: DisabledReasonValue¶

Returns:: The reason for the mechanism being disabled
Return type:: DisabledReasonValue

property requires_user_reason: RequiresUserReasonValue¶

Returns:: The reason for the mechanism requiring user action to resume control
Return type:: RequiresUserReasonValue

property leader: MotorT¶

Get the Talon FX that is differential leader. The differential leader calculates the output for the differential follower. The differential leader is also useful for fault detection, and it reports status signals for the differential controller.

Returns:: Differential leader Talon FX

property follower: MotorT¶

Get the Talon FX that is differential follower. The differential follower’s position and velocity are used by the differential leader for the differential controller.

Returns:: Differential follower Talon FX

config_neutral_mode(neutral_mode: phoenix6.signals.spn_enums.NeutralModeValue, timeout: phoenix6.units.second = 0.1) → phoenix6.status_code.StatusCode¶

Configures the neutral mode to use for both motors in the mechanism.

Parameters:

neutral_mode (NeutralModeValue) – The state of the motor controller bridge when output is neutral or disabled
timeout (second) – Maximum amount of time to wait when performing each configuration

Returns:

Status code of the first failed config call, or OK if all succeeded

Return type:

StatusCode

periodic()¶: Call this method periodically to automatically protect against dangerous fault conditions and keep self.mechanism_state updated.

clear_user_requirement()¶: Indicate to the mechanism that the user has performed the required action to resume mechanism control.

get_average_position(refresh: bool = True) → phoenix6.status_signal.StatusSignal[phoenix6.units.rotation]¶

Average component of the mechanism position.

Minimum Value: -16384.0
Maximum Value: 16383.999755859375
Default Value: 0
Units: rotations