CTR-Phoenix.md

CTR-Electronics Phoenix 6

Please read through the requirements and basic example before utilizing the vendordep.

Requirements

Important

During alpha, there are frequent breaking changes between releases. Please carefully review the changelog between each release.

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_alpha7 compatible releases
  • Phoenix 6 26.70.0-alpha-2
• WPILib 2027_alpha5 compatible releases
  • Phoenix 6 26.50.0-alpha-1
• 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

• 26.70.0-alpha-2 compatible Phoenix 6 firmware
  • Firmware 26.70.X
• 26.50.0-alpha-1 compatible Phoenix 6 firmware
  • Firmware 26.X (any 2026 firmware release)
• 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==26.70.0a2"
]

Download

• Vendordep: Select from the vendor JSON repository in VS code

• canivore-usb Package:

  • WPILib 2027_alpha7: canivore-usb_1.18_systemcore_wpilib_alpha_7
    • Starting in this release, only one IPK is necessary for the CANivore
  • WPILib 2027_alpha5: canivore-usb-kernel_1.18_aarch and canivore-usb_1.16_aarch64
    • Install canivore-usb-kernel, then canivore-usb

Basic Example

SystemCore CAN buses can be used by using the CANBus(CANPort port) constructor. An example is shown below.

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

// Use the Systemcore S2 port
private final TalonFX m_motor = new TalonFX(0, new CANBus(CANPort.CAN_S2));

Examples

The Phoenix6-Examples repo has branches for the following releases:

• 26.70.0-alpha-2: 2027_alpha5
• 26.50.0-alpha-1: 2027_alpha5

Changelog

26.70.0-alpha-2

Changelog is available here. Note that Tuner X has not yet been updated to support generating mechanisms with this release.

26.50.0-alpha-1

Changelog is available here. Note that Tuner X has not yet been updated to support generating mechanisms with this release.

25.90.0-alpha-2

Changes in 25.90.0-alpha-2

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

Fixes in 25.90.0-alpha-2

• 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 in 25.90.0-alpha-2

Please see known issues.

---

25.90.0-alpha-1

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

Known Issues in 25.90.0-alpha-1

• 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.