Feature Replacements

In addition to the changes shown in the other sections, several other Phoenix 5 features have been replaced or improved upon in Phoenix Pro.

Motor Invert

In Phoenix Pro, motor invert is now a persistent config (Java, C++) instead of a control signal.

Neutral Mode

In Phoenix Pro, Neutral mode is now available in API as a config (Java, C++). Many control requests also have the ability to override the neutral mode to either force braking (Java, C++) or force coasting (Java, C++).

Nominal Output

The Talon FX forward and reverse Nominal Output configs have been removed in Phoenix Pro.

The typical use case of the nominal output configs is to overcome friction in closed-loop control modes, which can now be achieved using the kS feedforward parameter (Java, C++).

Sensor Phase

The Talon FX setSensorPhase() method has been removed in Phoenix Pro.

• The Talon FX integrated sensor is always in phase, so the method does nothing in Phoenix 5.

• When using a remote sensor, you can invert the remote sensor to bring it in phase with the Talon FX.

Sensor Initialization Strategy

The Talon FX and CANcoder sensors are always initialized to their absolute position in Phoenix Pro.

Velocity Measurement Period/Window

In Phoenix Pro, the velocity rolling average window in Talon FX and CANcoder has been replaced with a Kalman filter, resulting in a less noisy velocity signal with a minimal impact on latency. As a result, the velocity measurement period/window configs are no longer necessary in Phoenix Pro and have been removed.

Integral Zone

Phoenix Pro automatically prevents integral windup in closed-loop controls. As a result, the Integral Zone config is no longer necessary and has been removed.