API Migration

This section serves as a “cheat sheet” of commonly-used functions in Phoenix 5 and their equivalents in Phoenix 6.

• API Structure

  • General structure of the Phoenix 6 namespaces and packages

• Configuration

  • Configuring device configs in robot code

• Status Signals

  • Using status signals to retrieve sensor data from devices

• Control Requests

  • Using control requests to control the functionality of actuators, such as the TalonFX

• Closed-Loop Control

  • Configuring and using closed-loop control requests

• Feature Replacements

  • Other features replaced or improved upon in Phoenix 6