Phoenix 6

https://v6.docs.ctr-electronics.com/en/stable/
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Phoenix 6 is a software framework for controlling and configuring CTR Electronics devices, featuring...
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### Diagnostic server startup console output

Source: https://v6.docs.ctr-electronics.com/en/stable/docs/troubleshooting/running-diagnostics.html

Example console output printed when the diagnostic server starts. WPILib users see this in the Driver Station or RioLog.

```text
[phoenix] Starting Standalone Diagnostics Server (23.1.0-Jun  2 2023,23:17:09)
[phoenix-diagnostics] Server 2023.1.0 (Jun  2 2023, 23:17:56) running on port: 1250

```

--------------------------------

### Full open-loop drivetrain example (Java)

Source: https://v6.docs.ctr-electronics.com/en/stable/_sources/docs/api-reference/examples/quickstart.rst.txt

Complete Java example for a four-motor drivetrain with TalonFX controllers, including follower configuration and DutyCycleOut control.

```java
public class Robot extends TimedRobot {
   private static final CANBus kCANBus = new CANBus("canivore");

   private final TalonFX m_leftLeader = new TalonFX(0, kCANBus);
   private final TalonFX m_rightLeader = new TalonFX(1, kCANBus);
   private final TalonFX m_leftFollower = new TalonFX(2, kCANBus);
   private final TalonFX m_rightFollower = new TalonFX(3, kCANBus);

   private final DutyCycleOut m_leftOut = new DutyCycleOut(0);
   private final DutyCycleOut m_rightOut = new DutyCycleOut(0);

   private final XboxController m_driverJoy = new XboxController(0);

   public Robot() {
      // start with factory-default configs
      var configs = new TalonFXConfiguration();

```

--------------------------------

### Start RobotPy Simulation

Source: https://v6.docs.ctr-electronics.com/en/stable/_sources/docs/canivore/canivore-hardware-attached.rst.txt

Command to start the RobotPy simulation.

```bash
python -m robotpy sim
```

--------------------------------

### Install canivore-usb on other distributions

Source: https://v6.docs.ctr-electronics.com/en/stable/_sources/docs/installation/installation-nonfrc.rst.txt

For other Linux distributions: update APT and install canivore-usb.

```bash
sudo apt update
sudo apt install canivore-usb -y
```

--------------------------------

### Install Phoenix 6 on Linux via apt

Source: https://v6.docs.ctr-electronics.com/en/stable/docs/installation/installation-nonfrc.html

Update the package list and install the Phoenix 6 package on Linux using apt. This is the recommended installation method for Linux systems.

```bash
sudo apt update
sudo apt install phoenix6

```

--------------------------------

### SignalLogger.start()

Source: https://v6.docs.ctr-electronics.com/en/stable/_sources/docs/api-reference/api-usage/signal-logging.rst.txt

Starts the signal logger, capturing all status signals automatically.

```APIDOC
## SignalLogger.start()

### Description
Starts the signal logger. Once started, all status signals are captured automatically with their CAN timestamps.

### Method
start

### Parameters
None

### Request Example
```java
SignalLogger.start();
```

### Response
#### Success Response
- No return value (void).

```

--------------------------------

### C++ Differential Drive with TalonFX (Header)

Source: https://v6.docs.ctr-electronics.com/en/stable/_sources/docs/api-reference/examples/quickstart.rst.txt

C++ header declarations for the TalonFX motors, control requests, and joystick used in the quickstart example.

```cpp
private:
   static constexpr ctre::phoenix6::CANBus kCANBus{"canivore"};

   ctre::phoenix6::hardware::TalonFX m_leftLeader{0, kCANBus};
   ctre::phoenix6::hardware::TalonFX m_rightLeader{1, kCANBus};
   ctre::phoenix6::hardware::TalonFX m_leftFollower{2, kCANBus};
   ctre::phoenix6::hardware::TalonFX m_rightFollower{3, kCANBus};

   ctre::phoenix6::controls::DutyCycleOut m_leftOut{0};
   ctre::phoenix6::controls::DutyCycleOut m_rightOut{0};

   frc::XboxController m_driverJoy{0};
```

--------------------------------

### APT repo tools entry (stable)

Source: https://v6.docs.ctr-electronics.com/en/stable/_sources/docs/installation/installation-nonfrc.rst.txt

Example of the tools entry in the .list file. Replace 'stable' with your distribution (e.g., raspberrypi, jetson).

```bash
# APT repo for CTR tools, including canivore-usb
deb [signed-by=/usr/share/keyrings/ctr-pubkey.gpg] https://deb.ctr-electronics.com/tools stable main
```

--------------------------------

### APT repo tools entry (Raspberry Pi)

Source: https://v6.docs.ctr-electronics.com/en/stable/_sources/docs/installation/installation-nonfrc.rst.txt

Example of the tools entry for Raspberry Pi, using 'raspberrypi' as the distribution.

```bash
# APT repo for CTR tools, including canivore-usb
deb [signed-by=/usr/share/keyrings/ctr-pubkey.gpg] https://deb.ctr-electronics.com/tools raspberrypi main
```

--------------------------------

### APT repo entry for tools (stable)

Source: https://v6.docs.ctr-electronics.com/en/stable/docs/installation/installation-nonfrc.html

Example entry for the tools repository with the stable distribution. Replace 'stable' with your desired distribution.

```text
# APT repo for CTR tools, including canivore-usb
deb [signed-by=/usr/share/keyrings/ctr-pubkey.gpg] https://deb.ctr-electronics.com/tools stable main

```

--------------------------------

### C++: Get Supply Current Limit Configuration

Source: https://v6.docs.ctr-electronics.com/en/stable/_sources/docs/migration/migration-guide/configuration-guide.rst.txt

Retrieves the supply current limit configuration from a motor controller using the ConfigGetSupplyCurrentLimit method. The example creates a SupplyCurrentLimitConfiguration object and passes it to the method to populate it with the current settings.

```cpp
// a limited number of configs have ConfigGet* methods;
// for example, you can get the supply current limits
SupplyCurrentLimitConfiguration supplyCurLim{};
m_motor.ConfigGetSupplyCurrentLimit(supplyCurLim);
```

--------------------------------

### Java: Get Supply Current Limit Configuration

Source: https://v6.docs.ctr-electronics.com/en/stable/_sources/docs/migration/migration-guide/configuration-guide.rst.txt

Retrieves the supply current limit configuration from a motor controller using the configGetSupplyCurrentLimit method. The example creates a SupplyCurrentLimitConfiguration object and passes it to the method to populate it with the current settings.

```Java
// a limited number of configs have configGet* methods;
// for example, you can get the supply current limits
var supplyCurLim = new SupplyCurrentLimitConfiguration();
m_motor.configGetSupplyCurrentLimit(supplyCurLim);
```

--------------------------------

### Seed field-centric heading to an angle relative to forward (Java, C++, Python)

Source: https://v6.docs.ctr-electronics.com/en/stable/_sources/docs/api-reference/mechanisms/swerve/using-swerve-api.rst.txt

Resets the field-centric heading to a specified angle relative to the driver's forward direction. The example sets the heading to +90 degrees (counter-clockwise) so the robot faces left. The Tuner X generated swerve project calls this at the start of the default autonomous command.

```java
// Reset the field-centric heading so the robot is facing left (90 deg CCW)
drivetrain.seedFieldCentric(Rotation2d.kCCW_90deg);
```

```cpp
// Reset the field-centric heading so the robot is facing left (+90 deg)
drivetrain.SeedFieldCentric(frc::Rotation2d{90_deg});
```

```python
# Reset the field-centric heading so the robot is facing left (+90 deg)
self.drivetrain.seed_field_centric(Rotation2d.fromDegrees(90))
```

--------------------------------

### Set up Follower and StrictFollower in Java

Source: https://v6.docs.ctr-electronics.com/en/stable/_sources/docs/migration/migration-guide/control-requests-guide.rst.txt

Shows how to configure a follower motor to follow a leader, with the option to use StrictFollower to ignore the leader's invert. The example also demonstrates commanding 100% output on the leader, which the followers will replicate.

```java
// robot init, set m_follower to follow m_leader
// m_follower should NOT oppose leader
m_follower.setControl(new Follower(m_leader.getDeviceID(), MotorAlignmentValue.Aligned));
// set m_strictFollower to strict-follow m_leader
// strict followers ignore the leader's invert and use their own
m_strictFollower.setControl(new StrictFollower(m_leader.getDeviceID()));

// main robot code, command 100% output for m_leader
m_motor.setControl(m_request.withOutput(1.0));
// - m_follower and m_strictFollower will also run at 100% output
// - m_follower will follow m_leader's invert, while m_strictFollower
//   ignores it and uses its own
```

--------------------------------

### Using Control Requests - v5 Java

Source: https://v6.docs.ctr-electronics.com/en/stable/docs/migration/migration-guide/control-requests-guide.html

v5 Java example for setting voltage compensation and commanding 12 V output using ControlMode.PercentOutput.

```Java
// robot init, set voltage compensation to 12 V
m_motor.configVoltageComSaturation(12);
m_motor.enableVoltageCompensation(true);

// main robot code, command 12 V output
m_motor.set(ControlMode.PercentOutput, 1.0);

```

--------------------------------

### Start and stop logging with SignalLogger (Python)

Source: https://v6.docs.ctr-electronics.com/en/stable/docs/api-reference/api-usage/signal-logging.html

Starts and stops the signal logger using the start() and stop() functions.

```python
SignalLogger.start()
SignalLogger.stop()

```

--------------------------------

### Using Control Requests - v5 C++

Source: https://v6.docs.ctr-electronics.com/en/stable/docs/migration/migration-guide/control-requests-guide.html

v5 C++ example for setting voltage compensation and commanding 12 V output using ControlMode::PercentOutput.

```C++
// robot init, set voltage compensation to 12 V
m_motor.ConfigVoltageComSaturation(12);
m_motor.EnableVoltageCompensation(true);

// main robot code, command 12 V output
m_motor.Set(ControlMode::PercentOutput, 1.0);

```

--------------------------------

### Start and stop logging with SignalLogger (C++)

Source: https://v6.docs.ctr-electronics.com/en/stable/docs/api-reference/api-usage/signal-logging.html

Starts and stops the signal logger using the Start() and Stop() functions.

```cpp
SignalLogger::Start();
SignalLogger::Stop();

```

--------------------------------

### Start and stop logging with SignalLogger (Java)

Source: https://v6.docs.ctr-electronics.com/en/stable/docs/api-reference/api-usage/signal-logging.html

Starts and stops the signal logger using the start() and stop() functions.

```java
SignalLogger.start();
SignalLogger.stop();

```

--------------------------------

### Install Phoenix 6 for Python via pip

Source: https://v6.docs.ctr-electronics.com/en/stable/_sources/docs/installation/installation-frc.rst.txt

Use this command to install the phoenix6 package from PyPI. Requires RobotPy to be installed first.

```bash
python3 -m pip install phoenix6
```

--------------------------------

### Edit APT sources list with nano

Source: https://v6.docs.ctr-electronics.com/en/stable/_sources/docs/installation/installation-nonfrc.rst.txt

Opens the CTR APT sources list file in nano for editing. Replace <year> with your license year.

```bash
sudo nano /etc/apt/sources.list.d/ctr${YEAR}.list
```

--------------------------------

### Install Raspberry Pi kernel headers

Source: https://v6.docs.ctr-electronics.com/en/stable/docs/installation/installation-nonfrc.html

Updates APT and installs the Raspberry Pi kernel headers, required before installing canivore-usb on Raspberry Pi.

```bash
sudo apt update
sudo apt install raspberrypi-kernel-headers

```

--------------------------------

### Set up Follower and StrictFollower in C++

Source: https://v6.docs.ctr-electronics.com/en/stable/_sources/docs/migration/migration-guide/control-requests-guide.rst.txt

Shows how to configure a follower motor to follow a leader, with the option to use StrictFollower to ignore the leader's invert. The example also demonstrates commanding 100% output on the leader, which the followers will replicate.

```cpp
// class member variables
controls::DutyCycleOut m_request{0};

// robot init, set m_follower to follow m_leader
// m_follower should NOT oppose leader
m_follower.SetControl(controls::Follower{m_leader.GetDeviceID(), false});
// set m_strictFollower to strict-follow m_leader
// strict followers ignore the leader's invert and use their own
m_strictFollower.SetControl(controls::StrictFollower{m_leader.GetDeviceID()});

// main robot code, command 100% output for m_leader
m_motor.SetControl(m_request.WithOutput(1.0));
// - m_follower and m_strictFollower will also run at 100% output
// - m_follower will follow m_leader's invert, while m_strictFollower
//   ignores it and uses its own
```

--------------------------------

### Java Full Example

Source: https://v6.docs.ctr-electronics.com/en/stable/docs/api-reference/examples/quickstart.html

Java implementation of a differential drive robot using TalonFX motor controllers. Configures motor inversion and followers, then applies duty cycle control in teleopPeriodic.

```Java
public class Robot extends TimedRobot {
   private static final CANBus kCANBus = new CANBus("canivore");

   private final TalonFX m_leftLeader = new TalonFX(0, kCANBus);
   private final TalonFX m_rightLeader = new TalonFX(1, kCANBus);
   private final TalonFX m_leftFollower = new TalonFX(2, kCANBus);
   private final TalonFX m_rightFollower = new TalonFX(3, kCANBus);

   private final DutyCycleOut m_leftOut = new DutyCycleOut(0);
   private final DutyCycleOut m_rightOut = new DutyCycleOut(0);

   private final XboxController m_driverJoy = new XboxController(0);

   public Robot() {
      // start with factory-default configs
      var configs = new TalonFXConfiguration();

      // The left motor is CCW+
      configs.MotorOutput.Inverted = InvertedValue.CounterClockwise_Positive;
      m_leftLeader.getConfigurator().apply(configs);

      // The right motor is CW+
      configs.MotorOutput.Inverted = InvertedValue.Clockwise_Positive;
      m_rightLeader.getConfigurator().apply(configs);

      // Ensure our followers are following their respective leader
      m_leftFollower.setControl(new Follower(m_leftLeader.getDeviceID(), MotorAlignmentValue.Aligned));
      m_rightFollower.setControl(new Follower(m_rightLeader.getDeviceID(), MotorAlignmentValue.Aligned));
   }

   @Override
   public void teleopPeriodic() {
      // retrieve joystick inputs
      var fwd = -m_driverJoy.getLeftY();
      var rot = m_driverJoy.getRightX();

      // modify control requests
      m_leftOut.Output = fwd + rot;
      m_rightOut.Output = fwd - rot;

      // send control requests
      m_leftLeader.setControl(m_leftOut);
      m_rightLeader.setControl(m_rightOut);
   }
}
```

--------------------------------

### Install Raspberry Pi kernel headers and canivore-usb

Source: https://v6.docs.ctr-electronics.com/en/stable/_sources/docs/installation/installation-nonfrc.rst.txt

For Raspberry Pi: update APT, install kernel headers, then install canivore-usb. Custom bit rates and CAN 2.0 are not supported.

```bash
sudo apt update
sudo apt install raspberrypi-kernel-headers
```

```bash
sudo apt install canivore-usb -y
```

--------------------------------

### Follower Motors - v5 Java

Source: https://v6.docs.ctr-electronics.com/en/stable/docs/migration/migration-guide/control-requests-guide.html

v5 Java example for configuring follower motors with follow and invert settings, and commanding leader output.

```Java
// robot init, set m_follower to follow m_leader
m_follower.follow(m_leader);
// m_follower should NOT oppose m_leader
m_follower.setInverted(TalonFXInvertType.FollowMaster);
// set m_strictFollower to follow m_leader
m_strictFollower.follow(m_leader);
// set m_strictFollower to ignore m_leader invert and use its own
m_strictFollower.setInverted(TalonFXInvertType.CounterClockwise);

// main robot code, command 100% output for m_leader
m_leader.set(ControlMode.PercentOutput, 1.0);
// - m_follower and m_strictFollower will also run at 100% output
// - m_follower will follow m_leader's invert, while m_strictFollower
//   ignores it and uses its own
// NOTE: if set(), neutralOutput(), or disable() is ever called on
//       the followers, they will stop following

```

--------------------------------

### Java/C++: Robot Program Startup Output for Hardware Simulation

Source: https://v6.docs.ctr-electronics.com/en/stable/docs/canivore/canivore-hardware-attached.html

Expected console output after starting hardware sim robot code in VS Code, indicating the CAN Bus is connected and library initialization is complete.

```text
********** Robot program startup complete **********
[phoenix] CANbus Connected: uno (WinUSB, 2B189E633353385320202034383803FF)
[phoenix] CANbus Network Up: uno (WinUSB, 2B189E633353385320202034383803FF)
[phoenix] Library initialization is complete.

```

--------------------------------

### Install canivore-usb on Raspberry Pi

Source: https://v6.docs.ctr-electronics.com/en/stable/docs/installation/installation-nonfrc.html

Installs the canivore-usb kernel module on Raspberry Pi.

```bash
sudo apt install canivore-usb -y

```

--------------------------------

### Python: DifferentialDrive with TalonFX

Source: https://v6.docs.ctr-electronics.com/en/stable/docs/api-reference/wpilib-integration/motorcontroller-integration.html

Python example showing initialization of TalonFX motor controllers, creation of a DifferentialDrive object, and teleopPeriodic method for arcade drive control.

```python
def __init__(self):
   # instantiate motor controllers
   self.motor_left = hardware.TalonFX(0)
   self.motor_right = hardware.TalonFX(1)

   # create DifferentialDrive object for robot control
   self.diff_drive = wpilib.drive.DifferentialDrive(
      self.motor_left.set, self.motor_right.set
   )

   # instantiate joystick
   self.driver_joy = wpilib.XboxController(0)

def teleopPeriodic(self):
   forward = -self.driver_joy.getLeftY()
   rot = -self.driver_joy.getRightX()

   self.diff_drive.arcadeDrive(forward, rot)

```

--------------------------------

### Install Phoenix 6 C++ API on Linux

Source: https://v6.docs.ctr-electronics.com/en/stable/_sources/docs/installation/installation-nonfrc.rst.txt

Updates APT and installs the phoenix6 package for C++ development on Linux.

```bash
sudo apt update
sudo apt install phoenix6
```

--------------------------------

### Voltage output: v5 Java

Source: https://v6.docs.ctr-electronics.com/en/stable/_sources/docs/migration/migration-guide/control-requests-guide.rst.txt

v5 Java example using ControlMode.PercentOutput with voltage compensation enabled. Set voltage compensation to 12 V in robot init, then command 12 V output by setting PercentOutput to 1.0.

```java
// robot init, set voltage compensation to 12 V
m_motor.configVoltageComSaturation(12);
m_motor.enableVoltageCompensation(true);

// main robot code, command 12 V output
m_motor.set(ControlMode.PercentOutput, 1.0);
```

--------------------------------

### Modify and clone TalonFXConfiguration with method chaining (Java, C++, Python)

Source: https://v6.docs.ctr-electronics.com/en/stable/_sources/docs/api-reference/api-usage/configuration.rst.txt

Shows how to create a common configuration using method chaining, then clone it to create a leader configuration with a different invert. Demonstrates mutable configuration objects, cloning, and unit types (Java) or units library (C++).

```Java
final TalonFXConfiguration commonConfigs = new TalonFXConfiguration()
   .withMotorOutput(
      new MotorOutputConfigs()
         .withNeutralMode(NeutralModeValue.Brake)
   )
   .withCurrentLimits(
      new CurrentLimitsConfigs()
         .withStatorCurrentLimit(Amps.of(120))
         .withStatorCurrentLimitEnable(true)
   );

/* create a copy with a different invert */
final TalonFXConfiguration leaderConfigs = commonConfigs.clone()
   .withMotorOutput(
      commonConfigs.MotorOutput.clone()
         .withInverted(InvertedValue.Clockwise_Positive)
   );
```

```C++
static constexpr configs::TalonFXConfiguration commonConfigs =
   configs::TalonFXConfiguration{}
      .WithMotorOutput(
         configs::MotorOutputConfigs{}
            .WithNeutralMode(signals::NeutralModeValue::Brake)
      )
      .WithCurrentLimits(
         configs::CurrentLimitsConfigs{}
            .WithStatorCurrentLimit(120_A)
            .WithStatorCurrentLimitEnable(true)
      );

/* create a copy with a different invert */
configs::TalonFXConfiguration leaderConfigs =
   configs::TalonFXConfiguration{commonConfigs}
      .WithMotorOutput(
         configs::MotorOutputConfigs{commonConfigs.MotorOutput}
            .WithInverted(signals::InvertedValue::Clockwise_Positive)
      );
```

```Python
self._common_configs = (
   configs.TalonFXConfiguration()
   .with_motor_output(
      configs.MotorOutputConfigs()
      .with_neutral_mode(signals.NeutralModeValue.BRAKE)
   )
   .with_current_limits(
      configs.CurrentLimitsConfigs()
      .with_stator_current_limit(120.0)
      .with_stator_current_limit_enable(True)
   )
)
```
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