CTRE¶
In the past our team has used a lot of CTRE products (TalonSRX controllers, TalonFX with Falcons, Pigeon2). There are some big changes going from 2023 to 2024 with the release of the Kraken and Phoenix 5 to Phoenix 6 (Pro Licenses) frameworks.
Links¶
Assume all links are to official documentation unless otherwise noted
- Tuner X can be downloaded from the Microsoft store
- LATEST Phoenix 6 Documentation
- Github Examples of Phoenix 6
See also links on motion profiling.
CTRE Notes¶
2023 December¶
Mostly using this space to document my noticings and notes. We have a working arm with Motion Magic (velocity, acceleration) and limits (Stator Current, Supply Current, Forward Limit, Reverse Limit). See also 2024 Taz 3 repo.
Randomness¶
- Package com.ctre.phoenix6.configs
- API Migration "Cheat Sheet"
- CTRE Example of SwerveWithPathPlanner — basic example with the Phoenix6 Swerve API integrated with PathPlanner's path following for autonomous movement. There is also a limelight reference.
Control Request Changes¶
| PREVIOUSLY | PHOENIX 6 |
|---|---|
| Position | PositionDutyCycle |
| Velocity | VelocityDutyCycle |
| MotionMagic | MotionMagicDutyCycle |
| Closed-loop + Voltage Compensation | {ClosedLoop}Voltage |
| {ClosedLoop}TorqueCurrentFOC (requires Pro) |
See also API Migration.