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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 and 2027_alpha2 compatible releases
    • Phoenix 6 25.90.0-alpha-1
    • Phoenix 6 25.90.0-alpha-2

Phoenix 6 API to Firmware

  • 25.90.0-alpha-1 and 25.90.0-alpha-2 compatible Phoenix 6 firmware
    • Firmware 25.90.0.0

Python Usage

It is highly recommended to explicitly pin the Python dependency in your project.toml.

requires = [
    "phoenix6==25.90.0a2"
]

Basic Example

SystemCore CAN buses can be used by using the CANBus.systemCore(int busId) static function.

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

// Use the CANivore named "swag"
public static final TalonFX m_motor = new TalonFX(0, new CANBus("swag"));

// Use the 5th (0-indexed) CAN bus
public static final TalonFX m_motor = new TalonFX(0, CANBus.systemCore(4));

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

Changelog

25.90.0-alpha-2

Changes

  • BREAKING: Removed the device overload that takes a string parameter. Construct a CANBus object instead. This should improve clarity and reduce confusion.

Fixes

  • Fixed Signal Logger auto-logging.
    • When auto logging is enabled, logging is started by any of the following (whichever occurs first):
      • The robot is enabled.
      • It has been at least 5 seconds since program startup (allowing for calls to setPath), and the Driver Station is connected to the robot.
    • After auto logging has started the log once, logging will not be automatically stopped or restarted by auto logging.

Known Issues

  • Phoenix 5 is unavailable.
  • An offline installer is unavailable.
  • Signal logger does not rename files to include the match name when connected to FMS.
  • 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.

25.90.0-alpha-1

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

Known Issues

  • Phoenix 5 is unavailable.
  • An offline installer is unavailable.
  • Signal logger does not auto-start on FMS.
  • Signal logger does not rename files to include the match name when connected to FMS.
  • 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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