TalonSRXSimCollection

class phoenix5.TalonSRXSimCollection

Bases: pybind11_object

Collection of simulation commands available to a TalonSRX motor controller.

Use the getSimCollection() routine inside your motor controller to create the respective sim collection.

addAnalogPosition(dPos: int) → phoenix5._ctre.ErrorCode

Adds to the simulated analog position of the TalonSRX.

Parameters:

dPos – the change in position in native units

Returns:

error code

addPulseWidthPosition(dPos: int) → phoenix5._ctre.ErrorCode

Adds to the simulated pulse width position of the TalonSRX.

Parameters:

dPos – the change in position in native units

Returns:

error code

addQuadraturePosition(dPos: int) → phoenix5._ctre.ErrorCode

Adds to the simulated quadrature position of the TalonSRX.

Parameters:

dPos – the change in position in native units

Returns:

error code

getLastError() → phoenix5._ctre.ErrorCode

Gets the last error generated by this object. Not all functions return an error code but can potentially report errors. This function can be used to retrieve those error codes.

Returns:

Last Error Code generated by a function.

getMotorOutputLeadVoltage() → float

Gets the simulated output voltage across M+ and M- for the motor.

Returns:

applied voltage to the motor in volts

setAnalogPosition(newPos: int) → phoenix5._ctre.ErrorCode

Sets the simulated analog position of the TalonSRX.

Parameters:

newPos – the new position in native units

Returns:

error code

setAnalogVelocity(newVel: int) → phoenix5._ctre.ErrorCode

Sets the simulated analog velocity of the TalonSRX.

Parameters:

newVel – the new velocity in native units per 100ms

Returns:

error code

setBusVoltage(vbat: float) → phoenix5._ctre.ErrorCode

Sets the simulated bus voltage of the TalonSRX.

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

Parameters:

vbat – the bus voltage in volts

Returns:

error code

setLimitFwd(isClosed: bool) → phoenix5._ctre.ErrorCode

Sets the simulated forward limit switch of the TalonSRX.

Parameters:

isClosed – true if the limit switch is closed

Returns:

error code

setLimitRev(isClosed: bool) → phoenix5._ctre.ErrorCode

Sets the simulated reverse limit switch of the TalonSRX.

Parameters:

isClosed – true if the limit switch is closed

Returns:

error code

setPulseWidthConnected(isConnected: bool) → phoenix5._ctre.ErrorCode

Sets if the simulated pulse width sensor is connected to the TalonSRX.

Parameters:

isConnected – true if the pulse width sensor is connected

Returns:

error code

setPulseWidthPosition(newPos: int) → phoenix5._ctre.ErrorCode

Sets the simulated pulse width position of the TalonSRX.

Parameters:

newPos – the new position in native units

Returns:

error code

setPulseWidthRiseToRiseUs(periodUs: float) → phoenix5._ctre.ErrorCode

Sets the simulated pulse width rise to rise time of the TalonSRX.

Parameters:

periodUs – the pulse width rise to rise time in microseconds

Returns:

error code

setPulseWidthVelocity(newVel: int) → phoenix5._ctre.ErrorCode

Sets the simulated pulse width velocity of the TalonSRX.

Parameters:

newVel – the new velocity in native units per 100ms

Returns:

error code

setQuadratureRawPosition(newPos: int) → phoenix5._ctre.ErrorCode

Sets the simulated raw quadrature position of the TalonSRX.

The TalonSRX integrates this to calculate the true reported quadrature 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 your hardware API calls for home-ing your sensor.

Inputs to this function over time should be continuous, as user calls of SetSelectedSensorPosition() and SetQuadraturePosition() will be accounted for in the calculation.

Parameters:

newPos – the new raw position in native units

Returns:

error code

setQuadratureVelocity(newVel: int) → phoenix5._ctre.ErrorCode

Sets the simulated quadrature velocity of the TalonSRX.

Parameters:

newVel – the new velocity in native units per 100ms

Returns:

error code

setStatorCurrent(currA: float) → phoenix5._ctre.ErrorCode

Sets the simulated stator current of the TalonSRX.

Parameters:

currA – the stator current in amps

Returns:

error code

setSupplyCurrent(currA: float) → phoenix5._ctre.ErrorCode

Sets the simulated supply current of the TalonSRX.

Parameters:

currA – the supply current in amps

Returns:

error code