Enabling Actuators

CTR Electronics supported actuators have a safety feature where they will automatically disable output if they have not recently received an enable signal.

FRC Applications

In FRC applications, the enable signal is automatically sent to devices based on the Driver Station enable signal. This includes controlling devices in Phoenix Tuner X.

Warning

The device FRC Lock must be cleared to control devices in hardware-attached simulation.

Non-FRC Applications

In non-FRC applications, Unmanaged.feedEnable() must be called periodically to enable actuators.

Warning

The device FRC Lock must be cleared to control devices.

Java

// feed the enable signal, timeout after 100ms
Unmanaged.feedEnable(100);

C++

// feed the enable signal, timeout after 100ms
unmanaged::FeedEnable(100);

Python

# feed the enable signal, timeout after 100ms
phoenix6.unmanaged.feed_enable(0.100)

This must also be called to control devices in Phoenix Tuner X.

Tip

The Tuner X CANivore USB server automatically calls Unmanaged.feedEnable() when control is enabled.

FRC Lock

When a device is connected to a roboRIO for use in FRC, the device becomes FRC-locked and will require the Driver Station enable signal for actuation. The device FRC lock can be reset by factory-defaulting the device in Phoenix Tuner X.