Phoenix6-Examples

This repository contains examples of robot code utilizing WPILib and the Phoenix 6 API. A list of the following examples is shown below:

Basic API Examples

• CANcoder
  • Demonstrates basic functionality of a CANcoder
• Pigeon2
  • Demonstrates basic functionality of a Pigeon 2.0

Usage Examples

• ArcadeDrive
  • Arcade drive using WPILib timed based
• CommandBasedDrive
  • Arcade drive using WPILib command based
• PositionClosedLoop
  • Demonstrates using the TalonFX closed loop position functionality
• VelocityClosedLoop
  • Demonstrates using the TalonFX closed loop velocity functionality
• LatencyCompensation
  • Demonstrates how to use the latency compensation API

Simulation Specific Examples

• Simulation
  • Highlights a 4 TalonFX drivetrain driven in simulation

Application specific examples

• SwerveWithPathPlanner
  • Provides a basic example with the Phoenix 6 Swerve API integrated with PathPlanner's path following for autonomous movement.
• SwerveWithChoreo (Java only)
  • Provides a basic example with the Phoenix 6 Swerve API integrated with Choreo's path following for autonomous movement.