Welcome to Phoenix’s documentation!
Below is the documentation for the CTR-Electronics Phoenix 5 software framework. This includes…
Class library for supported Phoenix devices for programming in C++, Java (FRC), LabVIEW (FRC), or C# (HERO).
Phoenix Tuner Graphical Interface - provides configuration options, diagnostics, control and plotting.
Phoenix Diagnostic Server - install on to roboRIO for Tuner, and to perform HTTP API requests for diagnostic information.
Warning
Newer devices are no longer supported in Phoenix 5 and should instead use the Phoenix 6 library.
Blog Entries
Blog entries for 2022 and on will be posted at: CTR-Electronics Blog.
Jan 08, 2021 - BLOG: FRC 2021 Kickoff
Feb 20, 2020 - BLOG: Falcon 500 / Talon FX Critical Update
Jan 04, 2020 - BLOG: FRC 2020 Kickoff
Mar 09, 2019 - BLOG: RoboRIO Performance Insight and Optional Phoenix 5.14.1 Update
Feb 16, 2019 - BLOG: FRC 2019 Week 6
Feb 01, 2019 - BLOG: FRC 2019 Week 4
Jan 11, 2019 - BLOG: FRC 2019 Week 1
Jan 04, 2019 - BLOG: FRC 2019 Kickoff
Dec 16, 2018 - Site Created
Follow these instructions in order!
- Phoenix Software Reference Manual
- Primer: CTRE CAN Devices
- Primer: What is Phoenix v5 Software
- Do I need to install any of this?
- Prepare your workstation computer
- FRC: VS Code C++/Java
- FRC: Prepare NI roboRIO
- Prepare Linux Robot Controller
- Initial Hardware Testing
- Bring Up: CAN Bus
- Bring Up: CANivore
- Bring Up: PCM
- Bring Up: PDP
- Bring Up: Pigeon IMU
- Bring Up: Pigeon 2.0
- Bring Up: CANifier
- Bring Up: CANCoder
- Bring Up: CANdle
- Bring Up: Talon FX/SRX and Victor SPX
- Bring Up: Talon FX/SRX Sensors
- Bring Up: Remote Sensors
- Bring Up: Differential Sensors
- WPI/NI Software Integration
- Simulation
- Motor Controller Closed Loop
- Primer on Closed-loop
- Sensor Preparation
- Arbitrary Feed Forward
- Calculating Velocity Feed Forward gain (kF)
- Motion Magic / Position / Velocity / Current Closed Loop Closed Loop
- Auxiliary Closed Loop PID[1] Walkthrough
- Motion Profiling Closed Loop
- Motion Profiling Arc Closed Loop
- Mechanism is Finished Command
- Closed-Loop Configurations
- Faults
- Common Device API
- Support
- Troubleshooting and Frequently Asked Questions
- Errata
- CANCoder vH configs don’t show up in Tuner
- PigeonIMU Set Fused Heading accepts 1/64th of a degree
- “Neutral Brake Curr Limit” is often set
- “Persis Storage Failure” is often set
- Motion Magic Target does not approach the API requested Target
- CANivore: Loss of communication under specific circumstances
- LabVIEW Phoenix Open VIs must be chained to guarantee sequential execution
- Talon FX Remote Filter Device ID Must be 15 or Less
- Java Simulation: WPI_TalonSRX/WPI_VictorSPX Null Pointer Exception
- HERO firmware compatibility with firmware 4.X
- No S-Curve VI in LabVIEW
- Stator Current Limit Threshold Configs
- CANCoder not a remote sensor source
- Remote Sensors Not Working with Talon FX
- Kickoff Temporary Diagnostic Server may not work
- LabVIEW 2020 Deploys failing
- LabVIEW 2020 Shared-Object Deployment Limitations
- TalonFX Current Reporting Status Frame Not Available
- Talon FX Thermal Limits Low when using PWM Out-of-the-Box
- Talon FX does not support Sensor Coefficient
- Talon FX Continuous-Deadbands all the time
- Software Release Notes
- Additional Resources