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Phoenix 6 Quick Reference Guide

This guide provides quick code snippets and examples for using Phoenix 6 in FRC robotics with C++. It covers basic setup, control, and configuration for CTRE devices like TalonFX motors.

Controlling a TalonFX Motor​

Setup​

To control a TalonFX motor controller in C++:

  1. Include the necessary headers:
#include <ctre/phoenix6/TalonFX.hpp>
  1. Create a TalonFX object with the CAN ID:
ctre::phoenix6::hardware::TalonFX motor{0}; // CAN ID 0

Control​

Percentage Command​

Set the motor to run at a percentage of full speed (Duty Cycle Out):

motor.SetControl(ctre::phoenix6::controls::DutyCycleOut{0.5}); // 50% speed

Stop the motor:

motor.SetControl(ctre::phoenix6::controls::DutyCycleOut{0.0});

Reference: DutyCycleOut C++ API

Configure​

Include the necessary config headers:

#include <ctre/phoenix6/configs/Configs.hpp>

Invert Motor​

Invert the motor direction:

motor.GetConfigurator().Apply(ctre::phoenix6::configs::MotorOutputConfigs{}.WithInverted(true));

Current Limit​

Set and enable current limits to protect the motor and battery:

motor.GetConfigurator().Apply(ctre::phoenix6::configs::CurrentLimitsConfigs{}
    .WithStatorCurrentLimitEnable(true)  // Enable stator current limit
    .WithStatorCurrentLimit(30_A)        // Limit stator current to 30A
    .WithSupplyCurrentLimitEnable(true)  // Enable supply current limit
    .WithSupplyCurrentLimit(20_A));      // Limit supply current to 20A

API Reference​

References​