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CTR-Phoenix.md

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CTR-Electronics Phoenix 6

Please read through the requirements and basic example before utilizing the vendordep.

Requirements

Due to the volatile nature of versions and breaking changes, the below list is provided to clarify compatible WPILib version, compatible Phoenix 6 API version and compatible firmware version.

WPILib to Phoenix 6 API

  • WPILib 2027_alpha1 compatible releases
    • Phoenix 6 25.90.0-alpha-1

Phoenix 6 API to Firmware

  • 25.90.0-alpha-1 compatible Phoenix 6 firmware
    • Firmware 25.90.0.0

Basic Example

SystemCore CAN buses can be used by specifying their interface name. From left to right (left being closest to the power input), the buses are

  • can_s0
  • can_s1
  • can_s2
  • can_s3
  • can_s4

So to initialize a device on the SystemCore bus, you would use

// Use the 5th (0-indexed) CAN bus
public static final TalonFX m_motor = new TalonFX(0, "can_s4");

// If no parameter is provided, it will use can_s0
public static final TalonFX m_motor = new Talonfx(0);

Changelog

25.90.0-alpha-1

  • Devices no longer implement sendable as it has been removed from WPILib.

Erratas/Known Issues

  • Alpha-1: Phoenix 5 is unavailable.
  • Alpha-1: Python wheels are unavailable.
  • Alpha-1: An offline installer is unavailable.
  • Alpha-1: Signal logger does not auto-start on FMS.
  • Alpha-1: Tuner cannot deploy a temporary diagnostic server to the SystemCore. To use Phoenix Tuner X functionality, deploy a blank robot program with a Phoenix 6 device initialized. No other Tuner functionality is affected.

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