CTR Electronics Phoenix Pro User manual

Phoenix Pro
CTR Electronics
May 19, 2023

Intro
1 Why Phoenix Pro? 3
2 Installing Phoenix Pro 5
3 Conguring your Device 9
4 Device Licensing 11
5 Phoenix Tuner X 17
6 TalonFX 45
7 Pigeon 2.0 47
8 CANcoder 51
9 API Usage 55
10 Simulation 101
11 WPILib Integration 105
12 Examples 109
13 CANivore Intro 115
14 CANivore Setup 117
15 CANivore API 123
16 Hardware-Attached Simulation 125
17 Advanced Conguration 127
18 Troubleshooting 131
19 Support 135
i

ii

Phoenix Pro
Welcome to the Phoenix Pro documentation. Individuals looking for Phoenix 5 documentation
may locate it here.
The Phoenix Pro software framework allows you to control and congure your CTR Electronics
Phoenix Pro Devices. Phoenix Pro represents a complete rewrite of the software framework
over the existing Phoenix 5 framework. With Phoenix Pro, users have access to many new
features that expand the control the user has over their devices.
Important: User’s looking for documentation on the Phoenix 6 API can nd that on the
latest version of this site.
CTR Electronics Blog For news and updates about your CTR Electronics device, please check
out our blog.
Changelog A changelog containing API, Tuner and Firmware changes is
available here.
Migration Guide A Phoenix 5 migration guide is available here.
Installation Installation instructions for Phoenix API & Tuner.
Phoenix Tuner Documentation that introduces the companion application to
manage your CTR Electronics devices.
Hardware Reference Documentation for device specic conguration, trou-
bleshooting and setup instructions.
API Reference Documentation and details on using the CTR Electronics device API. This
includes usage of signals, congs, control requests, etc.
Examples Software API examples for controlling your devices.
Troubleshooting Common troubleshooting for hardware or software problems.
1

Phoenix Pro
2

1
Why Phoenix Pro?
Phoenix Pro currently oers the following features and will further expand.
1.1 Comprehensive API
• Device signal getters return a StatusSignalValue object, expanding the functionality of
status signals.
• Control devices with an extensive list of exible, strongly-typed control request objects.
1.2 Canonical Units
• Uses the popular Units library for C++ and standardizes on SI units.
• Signals are documented with the unit type and the minimum and maximum values.
1.3 Time Base Synchronization
• Using CANivore Timesync, signals from all devices are sampled and published to the
CAN bus at the same time.
• API can synchronously wait for data from multiple devices on a CANivore to arrive.
3

Phoenix Pro
1.4 Field Oriented Control (FOC)
• ~15% increase in peak power.
• Increased torque output; faster acceleration and higher speeds under load.
• Greater eiciency; the motor draws less current for the same output power, increasing
battery life.
• Support for direct torque control.
1.5 Improved Device Control
• New and improved control output types and closed-loop conguration.
• Improved Motion Magic® with jerk control and support for modifying the prole on the
y.
• Kalman-based algorithms to reduce latency while maintaining smooth data.
•Fuse a CANcoder with the motor’s internal rotor, getting absolute data all the time while
using the fast internal sensor for closed looping.
1.6 Enhanced Support for CAN FD
• Improved CAN FD framing further reduces any CAN bus utilization issues.
• Larger CAN frames allow for the addition of more advanced features.
1.7 New Tuner X Self Tests
• Detailed and resolute self tests to improve debugging.
1.8 Free High-Fidelity Simulation
• Simulation closely follows the behavior of real hardware.
• Write unit-tests for your robot code, and make sure the robot works before deploying.
•Try Phoenix Pro before you buy!
4 Chapter 1. Why Phoenix Pro?

2
Installing Phoenix Pro
Installation of Phoenix Pro is comprised of a few steps
•Installing API
•Installing Tuner
•Updating Device Firmware
•Device Licensing
2.1 API Installation
Phoenix Pro currently supports Java and C++ for development.
2.1.1 System Requirements
The following targets are supported:
• NI roboRIO
• Windows 10/11 x86-64
• Linux x86-64 (desktop)
–Ubuntu 22.04 or newer
–Debian Bullseye or newer
• Linux ARM32 and ARM64 (Raspberry Pi, NVIDIA Jetson)
–Ubuntu 20.04 or newer
–Debian Bullseye or newer
• macOS (regular simulation only)
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Phoenix Pro
2.1.2 O󰍒ine
Important: Users on non-Windows devices should skip to the Online installation instruc-
tions.
1. Download the Phoenix Framework Installer
2. Navigate through the installer, ensuring applicable options are selected
3. Apply the vendordep via WPILib VSCode Adding Oine Libraries
2.1.3 Online
FRC (Pro Only)
Important: This vendordep is for robot projects that are only using Phoenix Pro licensed
devices.
Paste the following URL in WPILib VS Code Install New Libraries (Online)
•https://maven.ctr-electronics.com/release/com/ctre/phoenixpro/
PhoenixPro-frc2023-latest.json
6 Chapter 2. Installing Phoenix Pro