CTR Electronics supported actuators have a safety feature where they will automatically disable output if they have not recently received an enable signal.
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.
The device FRC Lock must be cleared to control devices in hardware-attached simulation.
In non-FRC applications,
Unmanaged.feedEnable() must be called periodically to enable actuators.
The device FRC Lock must be cleared to control devices.
// feed the enable signal, timeout after 100ms Unmanaged.feedEnable(100);
// feed the enable signal, timeout after 100ms unmanaged::FeedEnable(100);
This must also be called to control devices in Phoenix Tuner X.
The Tuner X CANivore USB server automatically calls
Unmanaged.feedEnable() when control is enabled.
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.