MotorController Integration

Phoenix 6 motor controller classes such as TalonFX (Java, C++) implement the MotorController (Java, C++) interface. This allows Phoenix 6 motor controllers to be used in WPILib drivetrain classes such as DifferentialDrive.

Java

// instantiate motor controllers
TalonFX m_motorLeft = new TalonFX(0);
TalonFX m_motorRight = new TalonFX(1);

// create differentialdrive object for robot control
DifferentialDrive m_diffDrive = new DifferentialDrive(m_motorLeft, m_motorRight);

// instantiate joystick
XboxController m_driverJoy = new XboxController(0);

public void teleopPeriodic() {
   var forward = -m_driverJoy.getLeftY();
   var rot = -m_driverJoy.getRightX();

   m_diffDrive.arcadeDrive(forward, rot);
}

C++ (Source)

void Robot::TeleopPeriodic() {
   auto forward = -m_driverJoy.GetLeftY();
   auto rot = -m_driverJoy.GetRightX();

   m_diffDrive.ArcadeDrive(forward, rot);
}

C++ (Header)

// instantiate motor controllers
hardware::TalonFX m_motorLeft{0};
hardware::TalonFX m_motorRight{1};

// create differentialdrive object for robot control
frc::DifferentialDrive m_diffDrive{m_motorLeft, m_motorRight};

// instantiate joystick
frc::XboxController m_driverJoy{0};

Motor Safety

CTR Electronics supported actuators implement WPILib Motor Safety. In additional to the normal enable signal of CTR Electronics actuators, Motor Safety will automatically disable the device according to the WPILib Motor Safety implementation.

Simulation

It’s recommended that users set supply voltage to RobotController.getBatteryVoltage() (Java, C++) to take advantage of WPILib’s BatterySim (Java, C++) API. Additionally, the simulated device state is shown in the simulation Other Devices menu.