TalonFXConfiguration

class phoenix5.TalonFXConfiguration

Bases: BaseTalonConfiguration

Configurables available to TalonFX

If the Phoenix 5 API must be used for this device, the device must have 22.X firmware. This firmware is available in Tuner X after selecting Phoenix 5 in the firmware year dropdown.

Deprecated:

This device’s Phoenix 5 API is deprecated for removal in the 2025 season. Users should update to Phoenix 6 firmware and migrate to the Phoenix 6 API. A migration guide is available at https://v6.docs.ctr-electronics.com/en/stable/docs/migration/migration-guide/index.html.

property absoluteSensorRange

Desired Sign / Range for the absolute position register. Choose unsigned for an absolute range of[0, +1) rotations, [0, 360) deg, etc. Choose signed for an absolute range of[-0.5, +0.5) rotations, [-180, +180) deg, etc.

property initializationStrategy

The sensor initialization strategy to use.This will impact the behavior the next time device boots up.

Pick the strategy on how to initialize the “Position” register. Depending on the mechanism, it may be desirable to auto set the Position register to match the Absolute Position(swerve for example). Or it may be desired to zero the sensor on boot(drivetrain translation sensor or a relative servo).

TIP: Tuner’s self-test feature will report what the boot sensor value will be in the event the device is reset.

property integratedSensorOffsetDegrees

Adjusts the zero point for the absolute position register. The absolute position of the sensor will always have a discontinuity (360 -> 0 deg) or (+180 -> -180) and a hard-limited mechanism may have such a discontinuity in its functional range. In which case use this config to move the discontinuity outside of the function range.

property motorCommutation

Choose the type of motor commutation.

property statorCurrLimit

Stator-side current limiting. This is typically used to limit acceleration/torque and heat generation.

property supplyCurrLimit

Supply-side current limiting. This is typically used to prevent breakers from tripping.

toString(prependString: str) → str

Parameters:

prependString – String to prepend to all the configs

Returns:

String representation of all the configs