SensorCollection

class phoenix5.SensorCollection(motorController: phoenix5._ctre.BaseTalon)

Bases: pybind11_object

Collection of sensors available to a motor controller.

For best performance and update-rate, we recommend using the configSelectedFeedbackSensor() and getSelectedSensor*() routines. However there are occasions where accessing raw sensor values may be useful or convenient. Particularly if you are seeding one sensor based on another, or need to circumvent sensor-phase.

Use the getSensorCollection() routine inside your motor controller to create a sensor collection.

Constructor for SensorCollection

Parameters:: motorController – Talon Motor Controller to connect Collection to

getAnalogIn() → int

getAnalogInRaw() → int

getAnalogInVel() → int

getPinStateQuadA() → int

getPinStateQuadB() → int

getPinStateQuadIdx() → int

getPulseWidthPosition() → int

getPulseWidthRiseToFallUs() → int

getPulseWidthRiseToRiseUs() → int

getPulseWidthVelocity() → int

getQuadraturePosition() → int

getQuadratureVelocity() → int

isFwdLimitSwitchClosed() → int

isRevLimitSwitchClosed() → int

setAnalogPosition(newPosition: int, timeoutMs: int = 0) → phoenix5._ctre.ErrorCode

setPulseWidthPosition(newPosition: int, timeoutMs: int = 0) → phoenix5._ctre.ErrorCode

Sets pulse width position.

Parameters:

newPosition – The position value to apply to the sensor.
timeoutMs – Timeout value in ms. If nonzero, function will wait for config success and report an error if it times out. If zero, no blocking or checking is performed.

Returns:

an ErrErrorCode

setQuadraturePosition(newPosition: int, timeoutMs: int = 0) → phoenix5._ctre.ErrorCode

syncQuadratureWithPulseWidth(bookend0: int, bookend1: int, bCrossZeroOnInterval: bool, offset: int = 0, timeoutMs: int = 0) → phoenix5._ctre.ErrorCode