Migration Guide

This document serves as a “cheat sheet” of commonly accessed functions in Phoenix 5 and its equivalent in Phoenix Pro.

Status Signals

Phoenix v5

Java

// get latest TalonFX selected sensor position
// units are encoder ticks
int sensorPos = m_talonFX.getSelectedSensorPosition();

// latency is unknown
// cannot synchronously wait for new data

C++

// get latest TalonFX selected sensor position
// units are encoder ticks
int sensorPos = m_talonFX.GetSelectedSensorPosition();

// latency is unknown
// cannot synchronously wait for new data

Phoenix Pro

Java

// acquire a refreshed TalonFX rotor position signal
var rotorPosSignal = m_talonFX.getRotorPosition();

// because we are calling getRotorPosition() every loop,
// we do not need to call refresh()
//rotorPosSignal.refresh();

// retrieve position value that we just refreshed
// units are rotations
var rotorPos = rotorPosSignal.getValue();

// get latency of the signal
var rotorPosLatency = rotorPosSignal.getTimestamp().getLatency();

// synchronously wait 20 ms for new data
rotorPosSignal.waitForUpdate(0.020);

C++

// acquire a refreshed TalonFX rotor position signal
auto& rotorPosSignal = m_talonFX.GetRotorPosition();

// because we are calling GetRotorPosition() every loop,
// we do not need to call Refresh()
//rotorPosSignal.Refresh();

// retrieve position value that we just refreshed
// units are rotations, uses the units library
auto rotorPos = rotorPosSignal.GetValue();

// get latency of the signal
auto rotorPosLatency = rotorPosSignal.GetTimestamp().GetLatency();

// synchronously wait 20 ms for new data
rotorPosSignal.WaitForUpdate(20_ms);

Control Requests

Phoenix v5

Java

// robot init, set voltage compensation to 12 V
m_motor.configVoltageComSaturation(12);
m_motor.enableVoltageCompensation(true);

// main robot code, command 12 V output
m_motor.set(ControlMode.PercentOutput, 1.0);

C++

// robot init, set voltage compensation to 12 V
m_motor.ConfigVoltageComSaturation(12);
m_motor.EnableVoltageCompensation(true);

// main robot code, command 12 V output
m_motor.Set(ControlMode::PercentOutput, 1.0);

Phoenix Pro

Java

// class member variable
VoltageOut m_request = new VoltageOut(0);

// main robot code, command 12 V output
m_motor.setControl(m_request.withOutput(12.0));

C++

// class member variable
controls::VoltageOut m_request{0_V};

// main robot code, command 12 V output
m_motor.SetControl(m_request.WithOutput(12_V));

Applying Configs

Phoenix v5

Java

// set slot 0 gains
// 50 ms timeout on each config call
m_motor.config_kF(0, 0.05, 50);
m_motor.config_kP(0, 0.046, 50);
m_motor.config_kI(0, 0.0002, 50);
m_motor.config_kD(0, 0.42, 50);

C++

// set slot 0 gains
// 50 ms timeout on each config call
m_motor.Config_kF(0, 0.05, 50);
m_motor.Config_kP(0, 0.046, 50);
m_motor.Config_kI(0, 0.0002, 50);
m_motor.Config_kD(0, 0.42, 50);

Phoenix Pro

Java

// set slot 0 gains
var slot0Configs = new Slot0Configs();
slot0Configs.kV = 0.12;
slot0Configs.kP = 0.11;
slot0Configs.kI = 0.5;
slot0Configs.kD = 0.001;

// apply gains, 50 ms total timeout
m_talonFX.getConfigurator().apply(slot0Configs, 0.050);

C++

// set slot 0 gains
configs::Slot0Configs slot0Configs{};
slot0Configs.kV = 0.12;
slot0Configs.kP = 0.11;
slot0Configs.kI = 0.5;
slot0Configs.kD = 0.001;

// apply gains, 50 ms total timeout
m_talonFX.GetConfigurator().Apply(slot0Configs, 50_ms);

Factory Defaulting Configs

Phoenix v5

Java

// user must remember to factory default if they configure devices in code
m_motor.configFactoryDefault();

C++

// user must remember to factory default if they configure devices in code
m_motor.ConfigFactoryDefault();

Phoenix Pro

Java

// any unmodified configs in a configuration object are *automatically* factory-defaulted;
// user can perform a full factory default by passing a new configuration object
m_motor.getConfigurator().apply(new TalonFXConfiguration());

C++

// any unmodified configs in a configuration object are *automatically* factory-defaulted;
// user can perform a full factory default by passing a new configuration object
m_motor.GetConfigurator().Apply(TalonFXConfiguration{});

Closed Loop Gains

These tables are for translating Phoenix v5 gains to Phoenix Pro DutyCycle gains.

Note

There are other control output types in Phoenix Pro that will change the magnitude of the gains.

Position (DutyCycle)

Velocity (DutyCycle)