Status Signals¶

Phoenix 6 expands the functionality of status signals with the introduction of the StatusSignal (Java, C++).

Note

For more information about status signals in Phoenix 6, see Status Signals.

Using Status Signals¶

Java

// get latest TalonFX selected sensor position
// units are encoder ticks
int sensorPos = m_talonFX.getSelectedSensorPosition();

// latency is unknown
// cannot synchronously wait for new data

C++

// get latest TalonFX selected sensor position
// units are encoder ticks
int sensorPos = m_talonFX.GetSelectedSensorPosition();

// latency is unknown
// cannot synchronously wait for new data

Java

// acquire a refreshed TalonFX rotor position signal
var rotorPosSignal = m_talonFX.getRotorPosition();

// because we are calling getRotorPosition() every loop,
// we do not need to call refresh()
//rotorPosSignal.refresh();

// retrieve position value that we just refreshed
// units are rotations, uses the units library
var rotorPos = rotorPosSignal.getValue();
// the units library can be bypassed using getValueAsDouble()
double rotorPosRotations = rotorPosSignal.getValueAsDouble();

// get latency of the signal
var rotorPosLatency = rotorPosSignal.getTimestamp().getLatency();

// synchronously wait 20 ms for new data
rotorPosSignal.waitForUpdate(0.020);

C++

// acquire a refreshed TalonFX rotor position signal
auto& rotorPosSignal = m_talonFX.GetRotorPosition();

// because we are calling GetRotorPosition() every loop,
// we do not need to call Refresh()
//rotorPosSignal.Refresh();

// retrieve position value that we just refreshed
// units are rotations, uses the units library
auto rotorPos = rotorPosSignal.GetValue();

// get latency of the signal
auto rotorPosLatency = rotorPosSignal.GetTimestamp().GetLatency();

// synchronously wait 20 ms for new data
rotorPosSignal.WaitForUpdate(20_ms);

Changing Update Frequency (Status Frame Period)¶

Java

// slow down the Status 2 frame (selected sensor data) to 5 Hz (200ms)
m_talonFX.setStatusFramePeriod(StatusFrameEnhanced.Status_2_Feedback0, 200);

C++

// slow down the Status 2 frame (selected sensor data) to 5 Hz (200ms)
m_talonFX.SetStatusFramePeriod(StatusFrameEnhanced::Status_2_Feedback0, 200);

Java

// slow down the position signal to 5 Hz
m_talonFX.getPosition().setUpdateFrequency(5);

C++

// slow down the position signal to 5 Hz
m_talonFX.GetPosition().SetUpdateFrequency(5_Hz);

Note

When different update frequencies are specified for signals that share a status frame, the highest update frequency of all the relevant signals will be applied to the entire frame. Users can get a signal’s applied update frequency using the getAppliedUpdateFrequency() method.

Common Signals¶

Several status signals have changed name or form in Phoenix 6.

General Signals¶

Phoenix 5	Phoenix 6
`BusVoltage`	`SupplyVoltage`
`Faults` / `StickyFaults` (fills an object)	`Fault_` / `StickyFault_` (individual faults)
`FirmwareVersion`	`Version`

Talon FX Signals¶

Phoenix 5	Phoenix 6
`MotorOutputPercent`	`DutyCycle`
`StatorCurrent`	`StatorCurrent` (motoring +, braking -), `TorqueCurrent` (forward +, reverse -)
`Inverted` (true/false; matches `setInverted`)	`AppliedRotorPolarity` (CCW+/CW+; typically matches `Inverted` config, affected by follower features)
`SelectedSensorPosition` / `SelectedSensorVelocity`	`Position` / `Velocity`
`IntegratedSensor*` (in `SensorCollection`)	`Rotor*`
`ActiveTrajectory*` (only Motion Magic® and the Motion Profile Executor)	`ClosedLoopReference*` (all closed-loop control requests)
`IsFwdLimitSwitchClosed` / `IsRevLimitSwitchClosed` (true/false)	`GetForwardLimit` / `GetReverseLimit` (Open/Closed)

CANcoder Signals¶

Phoenix 5	Phoenix 6
`MagnetFieldStrength`	`MagnetHealth`

Pigeon 2 Signals¶

Note

Many Pigeon 2 signal getters in Phoenix 5 fill an array, such as YawPitchRoll. In Phoenix 6, these signals have been broken up into their individual components, such as Yaw, Pitch, and Roll.

Phoenix 5	Phoenix 6
`RawGyro`	`AngularVelocity*`
`6dQuaternion`	`Quat*`
`BiasedAccelerometer`	`Acceleration*`
`BiasedMagnetometer`	`MagneticField*`
`RawMagnetometer`	`RawMagneticField*`