While Phoenix Pro and Phoenix 5 devices may exist on the same CAN bus and same robot project, each robot project must use the API tied to the device firmware version. This means Phoenix 5 devices must use the Phoenix 5 API, and Phoenix Pro devices must use the Phoenix Pro API.
There are three major components to the Phoenix Pro API:
- API Overview
Details a high level overview of what makes up the Phoenix Pro API.
Describes configuring device configs via code.
- Control Requests
Highlights using control requests to control the open and closed loop functionality of actuators such as the TalonFX.
- Status Signals
Details using status signals to retrieve sensor data from devices.
- Device Faults
Documents how faults are used to indicate device hardware status.
- Enabling Actuators
Information on the FRC Lock safety feature and enabling actuators.
- Actuator Limits
Documents how to retrieve and configure software and hardware actuator limits.
- Device Specific
Describes some device specific functionality, such as the different TalonFX control requests and how they are used.
- Migration Guide
A “cheat sheet” on migrating from Phoenix 5 to Phoenix Pro.