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Phoenix 6
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Phoenix 6

Getting Started

  • Requirements
  • Installing Phoenix 6
    • Installing Phoenix 6 (FRC)
    • Installing Phoenix 6 (non-FRC)
  • New for 2026

Migration

  • Phoenix 6 Features
  • API Migration
    • API Structure
    • Configuration
    • Status Signals
    • Control Requests
    • Closed-Loop Control
    • Feature Replacements
  • CAN Bus Utilization

Phoenix Tuner

  • Phoenix Tuner X
    • Connecting Tuner
    • Device List
    • Tuner History
    • Device Details
    • Tuner Configs
    • Self Test Snapshot
    • Controlling Devices
    • Plotting
    • Multi-device Plot & Control
    • Profile Page
    • Pigeon® 2.0 Mount Calibration
    • Tools
      • Extracting Signal Logs
      • Log Analysis (Beta)
      • CHRP Converter
    • Swerve Project Generator
      • Swerve Requirements
      • Creating your Project
      • Configuring Modules
      • Validating the Drivetrain
      • Generating the Project
      • Swerve Next Steps
    • Tuner Elevator Generator
      • Setup
      • Calibration and Limits
      • Tuning your Elevator
      • Generation
  • What is Licensing
  • Device Licensing
  • Season Pass Licensing

Hardware Reference

  • CANcoder®
  • CANdi®
  • CANdle®
  • CANrange®
    • Tuning CANrange®
  • Pigeon® 2.0
    • Pigeon® 2.0 Troubleshooting
  • Talon FX®
    • Improving Performance with Current Limits
  • Talon FXS®
    • Improving Performance with Current Limits

API Reference

  • General API Usage
    • API Overview
    • Configuration
    • Control Requests
    • Status Signals
    • Signal Logging
    • Hoot Replay
    • Device Faults
    • Enabling Actuators
    • Actuator Limits
    • Orchestra
  • Device API
    • Talon FX® / Talon FXS®
      • Introduction to Control Types
      • Open-Loop Control
      • Closed-Loop Overview
      • Basic PID and Profiling
      • Motion Magic® Controls
      • Manually Tuning PID with TorqueCurrentFOC
      • Remote Sensors
  • Mechanisms
    • Swerve Overview
      • Swerve Builder API
      • Swerve Requests
      • Swerve Simulation
      • Using the Swerve Drivetrain
    • Differential Overview
      • Differential Mechanism Setup
      • Using the Differential Mechanism API
      • Tuning a Differential Mechanism
  • Simulation
    • Introduction to Simulation
  • WPILib Integration
    • MotorController Integration
    • Annotation Logging with Epilogue
    • SysId Integration
      • Plumbing & Running SysId
    • Unit Testing
  • Examples
    • Open-Loop Quickstart
    • GitHub Examples

CANivore®

  • CANivore® Intro
  • CANivore® Setup
  • CANivore® API
  • Hardware-Attached Simulation
  • Advanced Configuration

API docs

  • Java API Docs
  • C++ API Docs
  • Python API Docs
  • C# API Docs

Application Notes

  • Development Blog
    • Latency and Frequency
    • Tuner and an evolution in configuration
    • Factors that Impact Odometry

Support

  • Troubleshooting
    • CAN Bus Troubleshooting
    • Running the Diagnostic Server
  • Support
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Hardware Reference¶

  • CANcoder®
  • CANdi®
  • CANdle®
  • CANrange®
  • Pigeon® 2.0
  • Talon FX®
  • Talon FXS®
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