Note it may take up to three business days for the latest Tuner X to become available on Windows Store/Google Play Store.

Current latest versions

• CANcoder (v5) - 22.0.1.2
• CANcoder (v6) - 25.0.1.0
• CANcoder vH (v5) - 22.0.2.1
• CANcoder vH (v6) - 25.0.1.0
• CANdle - 22.3.1.0
• CANivore - 24.0.1.0
• Phoenix Diagnostic Server - 2023.1.0
• Phoenix Installer - 5.30.4.2
• Phoenix-5 - 5.33.1
• Phoenix-6/Libs - 25.0.0b2
• Pigeon2 (v5) - 22.6.4.1
• Pigeon2 (v6) - 25.0.1.0
• Pigeon2 vS (v5) - 22.7.3.0
• Pigeon2 vS (v6) - 25.0.1.0
• Talon FX (v5) - 22.2.0.0
• Talon FX (v6) - 25.0.1.0
• Tuner X - 2025.1.0.0
• Tuner v1 - 1.9.4.1
• canivore-usb - 1.12
• owlet - 2025.0.1.0

2024/10/30

Added 2024/10/30

• (Phoenix 6 Firmware: 25.0.1.0) Updated to support 2025 beta-2 API.
• (Phoenix-Libs: 25.0.0-beta-2) Swerve: Added more APIs to access and modify internal state, and documentation for protected variables. Note that some member variables are now private and can instead be accessed using public getter APIs.
• (Phoenix-Libs: 25.0.0-beta-2) Swerve: Renamed seedFieldRelative() to seedFieldCentric() and seedFieldRelative(Pose2d) to resetPose(Pose2d). seedFieldRelative() now also corrects the rotation of the robot in odometry.
• (Phoenix-Libs: 25.0.0-beta-2) Swerve: Added resetTranslation(Translation2d) and resetRotation(Rotation2d) to match the WPILib SwerveDrivePoseEstimator API.
• (Phoenix-Libs: 25.0.0-beta-2) Swerve: Added SwerveRequest.ApplyFieldSpeeds, which takes field-centric chassis speeds and wheel force feedforward vectors. This is useful for Choreo paths.
• (Phoenix-Libs: 25.0.0-beta-2) Swerve: Renamed SwerveRequest.ApplyChassisSpeeds to SwerveRequest.ApplyRobotSpeeds. In Java, SwerveRequest.ApplyChassisSpeeds is marked as deprecated for removal in 2026.
• (Phoenix-Libs: 25.0.0-beta-2) Swerve: Added support for building a custom SwerveRequest on top of a NativeSwerveRequest in Java and Python. For an example, see the implementation of FieldCentricFacingAngle.
• (Phoenix-Libs: 25.0.0-beta-2) Swerve: In Java and Python, added clone()/deepcopy() support to SwerveDriveState and a thread-safe getStateCopy() to SwerveDrivetrain.
• (Phoenix-Libs: 25.0.0-beta-2) Swerve: Added Timestamp to SwerveDriveState.
• (Phoenix-Libs: 25.0.0-beta-2) Java: Added missing unit overloads for StatusSignal.setUpdateFrequency(Frequency) and StatusSignal.getAppliedUpdateFrequency().
• (Phoenix-Libs: 25.0.0-beta-2) Java: Added unit overloads to control request constructors.
• (Phoenix-Libs: 25.0.0-beta-2) Java/C++: Removed the all-parameter control request constructors. These were not commonly used, and with* methods should be used instead to improve code readability.
• (Phoenix-Libs: 25.0.0-beta-2) Python: Added get_data_copy() to StatusSignal.
• (Phoenix-Libs: 25.0.0-beta-2) Python: Improved the behavior of loading Phoenix libraries when a CTR_TARGET is specified.
• (Tuner X: 2025.1.0.0) Log Extractor: The default compression for MCAP file formats has been changed to 2 due to previous owlet improvements.
• (Tuner X: 2025.1.0.0) Swerve Generator: Generator now factory defaults before all tests to improve reliability.
• (Tuner X: 2025.1.0.0) Add compatibility for beta 2.
• (owlet: 2025.0.1.0) Updated to support 2025 beta-2 API.

Fixed 2024/10/30

• (Phoenix-Libs: 25.0.0-beta-2) Fixes issue reported in 24.2.0. Fixed an issue where BaseStatusSignal.refreshAll() and waitForAll() do not refresh certain closed-loop status signals.
• (Phoenix-Libs: 25.0.0-beta-2) Fixed an issue where RobotMode would not be logged to hoot logs in simulation.
• (Phoenix-Libs: 25.0.0-beta-2) Swerve: Fixed an issue where seedFieldCentric() would not work as expected from the Red Alliance operator perspective if resetPose(Pose2d) is never called.
• (Phoenix-Libs: 25.0.0-beta-2) Fixes issue reported in 25.0.0-beta-1. Java: Fixed a crash when using FieldCentricFacingAngle or any custom SwerveRequest class.
• (Phoenix-Libs: 25.0.0-beta-2) C++: Fixed an issue where ChassisSpeeds, SwerveModulePosition, and SwerveModuleState were not compatible with the WPILib types.
• (Phoenix-Libs: 25.0.0-beta-2) Python: Fixed a crash when trying to run simulation.
• (Phoenix-Libs: 25.0.0-beta-2) Simulation: Fixed an issue where the Robot State could not be set to Disconnected.
• (Phoenix-Libs: 25.0.0-beta-2) Fixed the direction of the CANcoder positions in Self Test.
• (Pigeon2 (v6): 25.0.1.0) Improved the reporting of the AngularVelocity*World signals when using a non-zero mount calibration.
• (Tuner X: 2025.1.0.0) Device View: Fixed an issue where resizing the device details did not fill the available width.
• (Tuner X: 2025.1.0.0) Swerve Generator: Fixed an issue that prevented generating only TunerConstants on macOS.
• (Tuner X: 2025.1.0.0) Swerve Generator: Fixed an issue that caused stuttering when running any of the verification tests.
• (Tuner X: 2025.1.0.0) Swerve Generator: Fixed incorrect layouts for any of the swerve generator popups.

2024/10/14

Added 2024/10/14

• (Phoenix 6 Firmware: 25.0.0.0) Updated to support 2025 beta-1 API.
• (Phoenix-Libs: 25.0.0-beta-1) Improved various API documentation.
• (Phoenix-Libs: 25.0.0-beta-1) C++: Config classes are now constexpr.
• (Phoenix-Libs: 25.0.0-beta-1) Added an overload to device status signal getters to fetch the StatusSignal without refreshing.
• (Phoenix-Libs: 25.0.0-beta-1) Robot code now automatically writes a RobotMode entry to the hoot logs, distinguishing between autonomous, teleop, etc.
• (Phoenix-Libs: 25.0.0-beta-1) Java: Added support for the Java units library in status signals. Users can opt out of the units library using getValueAsDouble().
• (Phoenix-Libs: 25.0.0-beta-1) Java: Added with*() overloads using Java units to controls, configs, and SimState, as well as get*Measure() getters.
• (Phoenix-Libs: 25.0.0-beta-1) Moved the swerve API into C++. This enables support for swerve in other languages and improves performance due to avoiding GC overhead.
• (Phoenix-Libs: 25.0.0-beta-1) Moved the Java swerve API, using the C++ implementation, to the com.ctre.phoenix6.swerve package. The pure Java implementation remains available using classes prefixed with Legacy (i.e. LegacySwerveDrivetrain).
• (Phoenix-Libs: 25.0.0-beta-1) Added swerve API support to C++ and Python.
• (Phoenix-Libs: 25.0.0-beta-1) Swerve requests now support desaturating module speeds, enabled by default.
• (Phoenix-Libs: 25.0.0-beta-1) Swerve: Added support for wheel force feedforward vectors in ApplyChassisSpeeds and SwerveModule.apply(). As part of this, SwerveModule.apply() now accepts a ModuleRequest object instead of multiple parameters.
• (Phoenix-Libs: 25.0.0-beta-1) Added support for Hoot Replay (requires Pro). Using a modified vendordep, users can replay a hoot file in place of running Hardware-Attached Simulation, playing back all device status signals and custom user signals. For more information, see the HootReplay API. Note that the replay API is a no-op outside of replay mode.
• (Phoenix-Libs: 25.0.0-beta-1) CANBus class is now instantiable, and overloads for device constructors have been provided. When using replay, the CANBus(canbus, hootFilePath) constructor can be used to ensure that the hoot log is loaded before any devices are constructed.
• (Phoenix-Libs: 25.0.0-beta-1) Added support for timesync in control requests (requires Pro and CANivore). This eliminates the impact of nondeterministic CAN latency on control requests in exchange for a larger but deterministic latency.
• (Phoenix-Libs: 25.0.0-beta-1) Added Utils.fpgaToCurrentTime() function to convert an FPGA timestamp to the timebase of Utils.getCurrentTimeSeconds().
• (Phoenix-Libs: 25.0.0-beta-1) C++: Utils.hpp functions (such as GetCurrentTimeSeconds()) have been moved to the ctre::phoenix6::utils namespace.
• (Phoenix-Libs: 25.0.0-beta-1) Added support for simulating Pigeon 2 angular velocities.
• (Phoenix-Libs: 25.0.0-beta-1) The Phoenix diagnostic server will now plot signals at their specified update frequency.
• (Phoenix-Libs: 25.0.0-beta-1) Fixes issue reported in 22.99.21.0. Added a configurable velocity filter for TalonFX. See the VelocityFilterTimeConstant API documentation for more information.
• (Phoenix-Libs: 25.0.0-beta-1) Added MotorKT, MotorKV, and MotorStallCurrent status signals to TalonFX.
• (Talon FX (v6): 25.0.0.0) Fixes issue reported in 23.4.0.3. Reworked supply current limits to prevent brownouts. Previously, if the PeakThresholdLimit and PeakThresholdTime were configured, the current limiter would allow unlimited supply current and then activate current limiting if it saw current exceeding the peak limit for the peak time. Now, the supply current limiter never allows current draws above the limit, which prevents brownouts. Additionally, after the current limiter is continuously limiting for LowerTime, the current limit threshold is reduced to the LowerLimit.
• (Talon FX (v6): 25.0.0.0) Added an enabled default stator current limit of 120 A.
• (Talon FX (v6): 25.0.0.0) Added an enabled default supply limit of 70 A.
• (Talon FX (v6): 25.0.0.0) Added an enabled default supply lower limit of 40 A after limiting (at 70 A) for 1 second.
• (Talon FX (v6): 25.0.0.0) Added a configurable velocity filter for TalonFX. See the FeedbackConfigs.VelocityFilterTimeConstant API docs for more information.
• (Talon FX (v6): 25.0.0.0) Added support for Timesync control (requires Pro and CANivore).
• (Talon FX (v6): 25.0.0.0) Added MotorKT, MotorKV, and MotorStallCurrent signals.
• (Tuner X: 2025.1.0.0) Added macOS and iOS support for Tuner X.
• (Tuner X: 2025.1.0.0) Added an addition check in swerve generator that detects if the declared devices share the same module.
• (Tuner X: 2025.1.0.0) Added support for individual module steer inverts in the swerve generator.
• (Tuner X: 2025.1.0.0) Updated Java swerve generation to use the 2025 beta API. Users are recommended to regenerate the project for the 2025 season to take advantage of new features.
• (Tuner X: 2025.1.0.0) Added support for generating C++ and Python swerve projects using the 2025 beta API.
• (Tuner X: 2025.1.0.0) Added device QR code generation support in Tuner X. Users can generate QR codes for a device and use their mobile phone to quickly jump to that device.
• (Tuner X: 2025.1.0.0) Hovering over a config name will show the description and units for that config.
• (Tuner X: 2025.1.0.0) Renamed Device History tab to Tuner History, which also contains a sub-tab for a list of previously connected robots.
• (Tuner X: 2025.1.0.0) Completely rewrote the plotter, see the user documentation changelog for detailed information.
• (Tuner X: 2025.1.0.0) Added a new tab for configuring plot settings such as color, min/max, grid lines, or signal grouping.
• (Tuner X: 2025.1.0.0) Fixes issue reported in 2024.1.1.0. Readded export plot as CSV.
• (Tuner X: 2025.1.0.0) Added a signal statistics tab for information about the selected signal when plotting.
• (Tuner X: 2025.1.0.0) Dramatically improve page navigation speed by over 80%.
• (Tuner X: 2025.1.0.0) The IP/team number dropdown now saves the last 3 connected networks.
• (Tuner X: 2025.1.0.0) Update to support beta API and firmware.
• (owlet: 2025.0.0.0) Owlet is now available on macOS and Linux, available for download at https://docs.ctr-electronics.com/cli-tools.

Fixed 2024/10/14

• (Phoenix-Libs: 25.0.0-beta-1) Fixes issue reported in 23.0.0-beta-1. C++: Configs now use the units library.
• (Phoenix-Libs: 25.0.0-beta-1) Fixes issue reported in 23.10.0-alpha7. Python: Added support for WPILib specific features in device classes.
• (Phoenix-Libs: 25.0.0-beta-1) Python: Added missing phoenix6.unamanged APIs.
• (Phoenix-Libs: 25.0.0-beta-1) Fixed an issue where TalonFX.setNeutralMode() would factory default the device MotorOutputConfigs if the refresh failed.
• (Phoenix-Libs: 25.0.0-beta-1) Fixed the SysId steer and rotation swerve requests to output cleaner and more useful data.
• (Phoenix-Libs: 25.0.0-beta-1) TalonFX no longer directly implements MotorController. The APIs associated with MotorController are still available, but this gives us the flexibility to make QOL adjustments to the API (such as returning StatusCodes).
• (Phoenix-Libs: 25.0.0-beta-1) Deprecated TalonFX.setInverted(). Invert is already available as a config, and this API caused issues when calling setPosition() before setInverted(). Use the MotorOutputConfigs.Inverted config instead.
• (Phoenix-Libs: 25.0.0-beta-1) Deprecated Pigeon2.getAngle() and Pigeon2.getRate(). These APIs reported CW+, but the Pigeon 2 and WPILib are both CCW+. Use Pigeon2.getYaw()/Pigeon2.getRotation2d() and Pigeon2.getAngularVelocityZWorld() instead.
• (Phoenix-Libs: 25.0.0-beta-1) Increased the default config apply/refresh timeout to 0.100 seconds, preventing erroneous timeouts.
• (Phoenix-Libs: 25.0.0-beta-1) Simulation: Fixed erroneous stale CAN frames when using WaitForUpdate() or WaitForAll().
• (Phoenix-Libs: 25.0.0-beta-1) Simulation: Fixed an issue where a timing spike would occur every 4 seconds.
• (Phoenix-Libs: 25.0.0-beta-1) Fixed an issue that occasionally resulted in bad hoot file names when connected to the FMS.
• (Phoenix-Libs: 25.0.0-beta-1) Fixed an issue where constructing devices would result in CAN frame not received Driver Station warnings on program startup.
• (Phoenix-Libs: 25.0.0-beta-1) Fixed an issue where points could get dropped in the Tuner plot if multiple Tuners were plotting.
• (Phoenix-Libs: 25.0.0-beta-1) Fixed an issue where logging more than 4095 user signals caused existing user signals to be corrupted.
• (Phoenix-Libs: 25.0.0-beta-1) Fixed an issue where the signal logger would always create a logs folder on a USB flash drive, regardless of the configured path.
• (Talon FX (v6): 25.0.0.0) Supply and stator current limits are now applied when using TorqueCurrentFOC.
• (Talon FX (v6): 25.0.0.0) Improved the accuracy and response time of the supply current limiter, allowing it to prevent brownouts.
• (Talon FX (v6): 25.0.0.0) Significantly reduced velocity noise when using FusedCANcoder with a smaller RotorToSensorRatio.
• (Talon FX (v6): 25.0.0.0) Fixed an issue where calling setPosition() followed by setInverted() resulted in an incorrect rotor position.
• (Tuner X: 2025.1.0.0) Fixed an issue where some users could not self test.
• (Tuner X: 2025.1.0.0) Fixed an issue during the swerve generator verification steps that could cause non-controlled motors to move.
• (Tuner X: 2025.1.0.0) Fixed an issue where devices could no longer be selected while in grid view.
• (Tuner X: 2025.1.0.0) Inverted config in Tuner now shows up as an enum, which matches API.
• (owlet: 2025.0.0.0) Significantly improved MCAP export time and file size. MCAP export is now comparable to WPILOG export in both measures.

Known Issues 2024/10/14

• (Phoenix-Libs: 25.0.0-beta-1) Fixed by 25.0.0-beta-2. Java: Using FieldCentricFacingAngle or any custom SwerveRequest class with the new SwerveDrivetrain crashes with a segfault. This is fixed starting with the beta-2 release. Discovered by Customer Email
• (Talon FX (v6): 25.0.0.0) TalonFX velocity is noisy when using SyncCANcoder or FusedCANcoder with a large RotorToSensorRatio. This is not a regression, and it is typically observed with a RotorToSensorRatio of 30.0 or greater. This may impact the kD output in position closed-loop control and the accuracy of SysId characterization. Discovered by Internal Testing

2024/07/25

Fixed 2024/07/25

• (Tuner X: 2024.9.1.0) Fixed a rare issue where logins wouldn’t work unless Tuner was restarted.
• (Tuner X: 2024.9.1.0) Fixed an issue where you couldn’t batch license with regular device licenses.

2024/07/24

Fixed 2024/07/24

• (Tuner X: 2024.9.0.0) Fixed an issue where a CANivore could not be licensed.

2024/07/16

Fixed 2024/07/16

• (Tuner X: 2024.8.9.0) Fixed an issue where restoring a swerve generator save file would not restore steer inverts.
• (Tuner X: 2024.8.9.0) Fixed a possible crash where users on legacy versions of Tuner update.

2024/06/25

Fixed 2024/06/25

• (Tuner X: 2024.8.8.0) Fixed steer test not being marked as complete once performed.
• (Tuner X: 2024.8.8.0) Fixed an issue where slider could cause a crash.

2024/06/15

Added 2024/06/15

• (Tuner X: 2024.8.7.0) Added support for ARM64 Windows artifacts.

Fixed 2024/06/15

• (Tuner X: 2024.8.7.0) Fix certain buttons being cut off due to large padding.
• (Tuner X: 2024.8.7.0) Add title to profile page login popup.
• (Tuner X: 2024.8.7.0) Fix batch firmware update popup being too large.
• (Tuner X: 2024.8.7.0) Fix quick jump popup appearing off-screen.
• (Tuner X: 2024.8.7.0) Fix a crash on Android tablet devices.
• (Tuner X: 2024.8.7.0) Fixed an issue where Tuner wouldn’t attempt to apply licenses if the device has too many licenses.

2024/06/06

Fixed 2024/06/06

• (Tuner X: 2024.8.3.0) Fixes a critical launch crash introduced in 2024.8.2.0.

2024/06/03

Fixed 2024/06/03

• (Tuner X: 2024.8.2.0) Fixes an issue where Tuner incorrectly detected certain laptops as a tablet.

2024/05/29

Added 2024/05/29

• (Tuner X: 2024.8.1.0) Improved the UI of the Swerve Generator.
• (Tuner X: 2024.8.1.0) Added per module calibration, which validates if the motor selection is correct.
• (Tuner X: 2024.8.1.0) Added UI/UX for validating that all devices are on the same CAN bus.
• (Tuner X: 2024.8.1.0) Added new animations for CANcoder offset calibration.
• (Tuner X: 2024.8.1.0) Added a dynamic checklist for the swerve generation process.
• (Tuner X: 2024.8.1.0) Improved the UI of the Swerve Generator.
• (Tuner X: 2024.8.1.0) Added per module invert support to the steer verification wizard.

Fixed 2024/05/29

• (Tuner X: 2024.8.1.0) Fixes self test not rendering for systems without a valid webview.

2024/05/17

Added 2024/05/17

• (Tuner X: 2024.7.3.0) Added support for POST based login flow.

2024/04/30

Added 2024/04/30

• (Phoenix-Libs: 24.3.0) Swerve: Added support for default configuration objects, allowing users to set up configs that the Swerve API does not touch, such as supply current limits. There are new members in SwerveModuleConstantsFactory and SwerveDrivetrainConstants to specify the default configs for the respective devices.
• (Phoenix-Libs: 24.3.0) optimizeBusUtilization() and optimizeBusUtilizationForAll() now support an optional optimizedFreqHz parameter (defaults to 0 Hz). This allows optimizing status signals to a non-zero update frequency instead of disabling them, which can be useful for logging.
• (Phoenix-Libs: 24.3.0) Java: optimizeBusUtilization(timeout) is deprecated and marked for removal. Users should switch to optimizeBusUtilization(frequency, timeout) with a frequency of 0 Hz instead.
• (Phoenix-Libs: 24.3.0) Improved the API documentation for control and config object parameters.
• (Phoenix-Libs: 24.3.0) Expanded the API documentation for current limit configs.
• (Phoenix-Libs: 24.3.0) Added withSyncCANcoder() to FeedbackConfigs.
• (Phoenix-Libs: 24.3.0) Added withForwardRemoteTalonFX(), withReverseRemoteTalonFX(), withForwardRemoteCANcoder(), and withReverseRemoteCANcoder() to HardwareLimitSwitchConfigs.
• (Phoenix-Libs: 24.3.0) Added ActiveBrake to bridge output status signal.
• (Phoenix-Libs: 24.3.0) Added StaticBrakeDisabled fault status signal, which trips when the static brake is momentarily disabled due to excessive braking current while disabled.
• (Phoenix-Libs: 24.3.0) Added Ancillary Device Temperature to Talon FX Self Test.
• (Tuner X: 2024.7.2.0) Update Swerve Project Generator to use Phoenix 6 24.3.0.
• (Tuner X: 2024.7.2.0) Update owlet for new signals in Phoenix 6 24.3.0.
• (owlet: 1.0.1.1) Added support for new signals in Phoenix 6 24.3.0.
• (owlet: 1.0.1.1) Added stator current to the list of free signals.

Fixed 2024/04/30

• (Phoenix-Libs: 24.3.0) Fixes issue reported in 24.2.0. Fixed an issue where StatusSignal.setUpdateFrequency() occasionally failed to apply if run immediately at program startup.
• (Phoenix-Libs: 24.3.0) Swerve: Fixed an issue where on program startup, the odometry thread could erroneously think a CANivore bus was not CAN FD if constructed before refreshing/applying any configs or waiting for any StatusSignals.
• (Phoenix-Libs: 24.3.0) Fixed an issue where CANivore SignalLogger sometimes would not start or create empty logs if called before refreshing/applying any configs or waiting for any StatusSignals.
• (Phoenix-Libs: 24.3.0) Reduced max memory footprint of signal logger.
• (Phoenix-Libs: 24.3.0) Fixed the SignalLogger free space error when the log must be stopped to report the correct 5 MB limit.
• (Phoenix-Libs: 24.3.0) Fixed stator current limiting in simulation.
• (Phoenix-Libs: 24.3.0) Fixed simulation reporting a non-zero torque current when motor is coasting.
• (Phoenix-Libs: 24.3.0) Fixed FeedbackConfigs CANcoder helper functions not being public in Java.
• (Phoenix-Libs: 24.3.0) Fixed CANivore CANBus.getStatus() erroneously failing on Windows.
• (Phoenix-Libs: 24.3.0) Python: StatusSignal now supports deepcopy.
• (Talon FX (v6): 24.4.4.0) Fixed an issue where LimitForwardMotion and LimitReverseMotion did not work in the open-loop TorqueCurrentFOC control request. This does not impact any other TorqueCurrentFOC control requests.

2024/04/15

Added 2024/04/15

• (Talon FX (v6): 24.4.3.1) Talon FX now follows the invert config when controlled over PWM.
• (Talon FX (v6): 24.4.3.1) Added ancillary device temperature reporting for Self Test.

Fixed 2024/04/15

• (Talon FX (v6): 24.4.3.1) Improved response time of stator current limits.
• (Talon FX (v6): 24.4.3.1) Fixes issue reported in 24.3.1.0. Fixed an issue where motor output may be aggressively limited when controlled over PWM after being field-upgraded to firmware version 24.3.1.0 or later.
• (Talon FX (v6): 24.4.3.1) Fixed an issue where the Kraken X60 could fail under certain circumstances. The motor must be configured for brake mode, disconnected from power (such as a tripped breaker), and continuously backdriven above 70 rps while motor is braking.
• (Talon FX (v6): 24.4.3.1) Fixes issue reported in 24.4.2.2. Fixed an issue where differential control on the roboRIO CAN bus failed with a MissingDifferentialFX fault.

2024/04/02

Fixed 2024/04/02

• (CANivore: 24.0.1.0) Fixes issue reported in 24.0.0.1. A particular and extended CAN disconnect event may trigger a USB re-enumeration, momentary red LED on STAT, and reported DS Log error indicating CANivore USB was disconnected/reconnected. This is a result of CANivore detecting the error condition and attempting to recover. To observe the issue, the following conditions must be met: CAN bus is severed so that there is no second termination resistor at the far end, at least one CAN device is still in circuit with CANivore CAN bus, and CAN LED is consistently red for at least two seconds. Since this requires CAN bus to be severed to observe the issue, this is not considered a critical fix. However, this fix does prevent erroneous USB disconnect/reconnect events in the Driver Station Log during troubleshooting CAN bus issues.

2024/03/14

Fixed 2024/03/14

• (Talon FX (v6): 24.4.2.2) Adjustment to active braking thresholds. This is non-critical and was done to allow more static braking in circumstances where a climbing mechanism is being back-driven while neutral.
• (Talon FX (v6): 24.4.2.2) Thermal optimization in static brake to reduce heat generation.

Known Issues 2024/03/14

• (Talon FX (v6): 24.4.2.2) Fixed by 24.4.3.1. Differential control on the roboRIO CAN bus fails with a MissingDifferentialFX fault. This does not affect devices on a CANivore. Discovered by Customer Email

2024/03/07

Added 2024/03/07

• (Talon FX (v6): 24.4.1.3) Additional checks added to red/orange blink the LEDs if output bridge is damaged.

Fixed 2024/03/07

• (Phoenix-5: 5.33.1) Fixes bug where CANdle setLEDs would not return error when CAN Tx failed.
• (Phoenix-5: 5.33.1) Fixes C++ deprecation warnings when only including v5 devices and not using them.
• (Talon FX (v6): 24.4.1.3) Fixes issue reported in 24.4.0.3. Addresses known issue from 24.4.0.3. See known issue below for details.
• (Talon FX (v6): 24.4.1.3) Fixes issue reported in 24.4.0.3. Addresses known issue from 24.4.0.3. See known issue below for details.
• (Talon FX (v6): 24.4.1.3) Fixes issue reported in 24.4.0.3. Addresses known issue from 24.4.0.3. See known issue below for details.
• (Talon FX (v6): 24.4.1.3) Fixes issue reported in 24.4.0.3. Improves follower response to follow the applied voltage instead of torque when following a DutyCycleFOC or VoltageFOC leader.

2024/02/29

Added 2024/02/29

• (Talon FX (v6): 24.4.0.3) In response to recent Kraken RMAs, various adjustments were made to the performance/thermal management.
• (Talon FX (v6): 24.4.0.3) Various changes were applied to Duty Cycle FOC and Voltage FOC to improve efficiency and reduce heat. TorqueCurrentFOC and non-FOC control modes are unaffected.

Known Issues 2024/02/29

• (Talon FX (v6): 24.4.0.3) Fixed by 24.4.1.3. Talon FX follower rotor velocity may increase rotor velocity during brake under specific circumstances. When all of the following conditions are met the follower’s rotor velocity may increase instead of decrease: TalonFX follower is enabled, TalonFX follower is clockwise positive (either through config or follow/oppose master), TalonFX neutral mode is brake, rotor velocity is above 400 RPM, and master TalonFX is no longer on bus (CAN disconnect or loss of power). When all these conditions are met, the follower motor may attempt to increase velocity instead of decrease. Discovered by Internal Testing
• (Talon FX (v6): 24.4.0.3) Fixed by 24.4.1.3. Talon FX follower may match torque instead of duty-cycle/voltage when using DutyCycle FOC or Voltage FOC. When using DutyCycle FOC or Voltage FOC on a master TalonFX, the follower may attempt to match the reported torque instead of the reported duty-cycle/voltage of the master. Additionally the reported bridge type will erroneously report TorqueCurrentFOC. Discovered by Internal Testing
• (Talon FX (v6): 24.4.0.3) Fixed by 24.4.1.3. Talon FX rotor velocity may increase rotor velocity during brake under specific circumstances. When all of the following conditions are met the rotor velocity may increase instead of decrease: TalonFX is enabled, TalonFX is clockwise positive, TalonFX neutral mode is brake, rotor velocity is above 400 RPM, and hardware or soft limit is asserted. When all these conditions are met, the motor may attempt to increase velocity instead of decrease. Discovered by Customer Email
• (Talon FX (v6): 24.4.0.3) Fixed by 24.4.1.3. When master and follower Talon FX are commanded to brake, rotor may stutter momentarily before coming to rest. This is the result of the follower TalonFX being confused by the master Talon FX performing active braking. Discovered by Customer Email

2024/02/28

Added 2024/02/28

• (Talon FX (v6): 24.3.1.0) Fixed issue where stator current limit may allow current above threshold.
• (Talon FX (v6): 24.3.1.0) Improved detection of thermal faults to prevent possible hardware damage.
• (Talon FX (v6): 24.3.1.0) Improved static brake to leverage regenerative braking. Note bridge type may report “Invalid” during regenerative braking events (until next Phoenix 6 API update).
• (Talon FX (v6): 24.3.1.0) Addressed potential issue where hardware status fault could erroneously set for approximately two seconds on certain TalonFXs.
• (Talon FX (v6): 24.3.1.0) Added additional checks to set hardware status fault if rotor sensor is damaged.

Fixed 2024/02/28

• (Talon FX (v6): 24.3.1.0) Fixes issue reported in 24.3.0.2. Hot fix to address customer reported issue with yesterday’s release involving StaticBrake. See known issue below for details.

Known Issues 2024/02/28

• (Talon FX (v6): 24.3.1.0) Fixed by 24.4.3.1. Motor output may be aggressively limited when controlled over PWM under certain circumstances. This requires the Talon FX to be configured over CAN to be clockwise positive. This is a regression and does not impact ship firmware. Discovered by Internal Testing

2024/02/27

Added 2024/02/27

• (Talon FX (v6): 24.3.0.2) Fixed issue where stator current limit may allow current above threshold.
• (Talon FX (v6): 24.3.0.2) Improved detection of thermal faults to prevent possible hardware damage.
• (Talon FX (v6): 24.3.0.2) Improved static brake to leverage regenerative braking. Note bridge type may report “Invalid” during regenerative braking events (until next Phoenix 6 API update).
• (Talon FX (v6): 24.3.0.2) Addressed potential issue where hardware status fault could erroneously set for approximately two seconds on certain TalonFXs.
• (Talon FX (v6): 24.3.0.2) Added additional checks to set hardware status fault if rotor sensor is damaged.

Known Issues 2024/02/27

• (Talon FX (v6): 24.3.0.2) Fixed by 24.3.1.0. CRF was removed within 24 hours due to a discovered issue. Rotor velocity may increase instead of decrease if all conditions are met: Talon FX is enabled, Talon FX is commanded to NeutralOut (Neutral mode set to Brake) or StaticBrake, Invert set to clockwise-positive, rotor velocity is above 400RPM. Discovered by Customer Email

2024/02/27

Added 2024/02/27

• (Tuner X: 2024.7.0.0) Adds new card color and descriptions when a critical firmware update is available.
• (Tuner X: 2024.7.0.0) Swerve Generation will now verify that project configuration is valid before generation.

Fixed 2024/02/27

• (Tuner X: 2024.7.0.0) PCM no longer shows up as supporting CAN FD.
• (Tuner X: 2024.7.0.0) Fixes an issue where spacebar would disable and then immediately reenable control.
• (Tuner X: 2024.7.0.0) Fixes an issue where the touch target for control sliders was too tall, leading to unexpected behavior.
• (Tuner X: 2024.7.0.0) Correct typo in CANivore info page.
• (Tuner X: 2024.7.0.0) Fixes Clear Conversion Queue checkbox from getting clipped on small application width.

2024/02/09

Added 2024/02/09

• (Phoenix-Libs: 24.2.0) Adds py.typed file to Python package.
• (Phoenix-Libs: 24.2.0) Adds Phoenix6 for LabVIEW API to installer.
• (Phoenix-Libs: 24.2.0) Adds missing closed loop StatusSignals.
• (Phoenix-Libs: 24.2.0) Adds Center of rotation to relevant Swerve Requests.
• (Phoenix-Libs: 24.2.0) Adds characterization swerve requests for applications such as sysid.
• (Phoenix-Libs: 24.2.0) Adds operator perspective to Swerve Drivetrain so SwerveRequests can be alliance-color aware.
• (Phoenix-Libs: 24.2.0) Adds motor type StatusSignal to TalonFX API and Self test.
• (Phoenix-Libs: 24.2.0) Improvements to simulation startup/shutdown.
• (Phoenix-Libs: 24.2.0) Adds Tuner X to the Phoenix-Offline installer.
• (Talon FX (v6): 24.2.0.0) Adds static feedforward sign config. Users can now choose to sign the kS based on velocity or error.

Fixed 2024/02/09

• (Phoenix-Libs: 24.2.0) Fixes bug where setting the update frequency for certain closed loop StatusSignals didn’t work.
• (Phoenix-Libs: 24.2.0) Corrects the sign when applying the coupling ratio correction to the swerve module drive velocity. Odometry was correct to begin with and unaffected by this change.
• (Phoenix-Libs: 24.2.0) Fixes UnsatisfiedLinkError crash when using Utils class before any other Phoenix class.
• (Phoenix-Libs: 24.2.0) Adds MotionMagicExpo signals to certain closed loop StatusSignals.
• (Phoenix-Libs: 24.2.0) Swerve Drives using TorqueCurrentVelocity for Drive will always enforce a coast during neutral operation. This prevents jittering when the drive is neutral, as targeting 0 torque current is equal to coasting the motor.
• (Phoenix-Libs: 24.2.0) Fixes issue reported in 23.0.0-beta-5. Adds TorqueCurrentFOC simulation.
• (Tuner X: 2024.6.2.0) SwerveDrive generation Steer/Drive verification buttons changed to be more visible on low-res monitors.
• (owlet: 1.0.1.0) Fixes bug where owlet sometimes stops exporting wpilog early.

Known Issues 2024/02/09

• (Phoenix-Libs: 24.2.0) Fixed by 24.3.0. StatusSignal.setUpdateFrequency() occasionally fails to apply if run immediately at program startup. For this to reproduce, setUpdateFrequency() must be called before refreshing/applying any configs or waiting for any StatusSignals. The workaround is to refresh/apply configs or call waitForUpdate() on at least one StatusSignal before calling setUpdateFrequency(). Discovered by Internal Testing
• (Phoenix-Libs: 24.2.0) Fixed by 25.0.0-beta-2. BaseStatusSignal.refreshAll() and waitForAll() do not refresh certain closed loop status signals. The workaround is to separately call refresh() on the affected closed loop signals. Discovered by Internal Testing

2024/01/08

Added 2024/01/08

• (Phoenix 6 Firmware: 24.1.0.0) Updated to support kickoff API.
• (Phoenix-5: 5.33.0) Updated for use with the 2024 kickoff libraries and 24.1.0 Phoenix 6.
• (Phoenix-Libs: 24.1.0) Adds neutral mode config to Drive Motors in Swerve API.
• (Phoenix-Libs: 24.1.0) Updated for use with the 2024 kickoff libraries.
• (Tuner X: 2024.6.1.0) Added batch licensing support to Tuner X.
• (Tuner X: 2024.6.1.0) Updated Swerve Generator for new WCP Swerve X modules.
• (Tuner X: 2024.6.1.0) Associates hoot files with Tuner X.
• (Tuner X: 2024.6.1.0) Rework the hoot log extractor page to support downloading hoot files without extracting.
• (Tuner X: 2024.6.1.0) Rework the hoot log extractor page to support exporting a subset of signals from a log file.
• (Tuner X: 2024.6.1.0) The Swerve Project Generator now approximates kSpeedAt12VoltsMps.
• (Tuner X: 2024.6.1.0) Update owlet to support the 2024 kickoff API.
• (Tuner X: 2024.6.1.0) Update swerve project generator to support the 2024 kickoff API.
• (owlet: 1.0.0.0) Updated to support 2024 kickoff API and libraries.

Fixed 2024/01/08

• (Phoenix 6 Firmware: 24.1.0.0) Firmware with wrong compliancy won’t factory-default on config write.
• (Phoenix-5: 5.33.0) Fixes issue reported in 5.30.4. Fixed constructing devices on a CANivore using the CANivore serial number.
• (Phoenix-Libs: 24.1.0) Fixes print in SwerveModule that erroneously reports a config failure on the Drive Motor ID instead of the Steer Motor ID.
• (Phoenix-Libs: 24.1.0) Fixes race condition in Swerve Drivetrain where seeding Pose does not update the cached pose, resulting in wrong behavior at the start of autonomous pathing.
• (Tuner X: 2024.6.1.0) Fixed an issue where swerve verification and the zero CANcoder button could fail after updating API or firmware.

2024/01/02

Added 2024/01/02

• (Phoenix-Libs: 24.0.0-beta-7) Added Rotor Acceleration to TalonFX device simulation.
• (Phoenix-Libs: 24.0.0-beta-7) Added latency parameter to user signals in SignalLogger.
• (Phoenix-Libs: 24.0.0-beta-7) Pigeon2: added getRotation3d() method.
• (Phoenix-Libs: 24.0.0-beta-7) Swerve sim API improved to include a frictional component, stabilizing the system and better matching on-robot behavior.
• (Phoenix-Libs: 24.0.0-beta-7) Added swerve module targets to SwerveDriveState class.
• (Phoenix-Libs: 24.0.0-beta-7) Swerve API: Added getRotation3d() and getPigeon2() methods.
• (Phoenix-Libs: 24.0.0-beta-7) Python: Added support for Orchestra.
• (Talon FX (v5): 22.2.0.0) Support for 2024 season.
• (owlet: 0.1.6.0) Added signal description and units metadata to wpilog export.

Fixed 2024/01/02

• (Phoenix-Libs: 24.0.0-beta-7) Extended beta expiration date until kickoff release is available.
• (Phoenix-Libs: 24.0.0-beta-7) Changed the default SignalLogger path on USB flash drives to use a logs folder.
• (Phoenix-Libs: 24.0.0-beta-7) User-logged data with changing size is now logged correctly.
• (Phoenix-Libs: 24.0.0-beta-7) Fixed SignalLogger not writing user-logged signals shortly after enabling the logger.
• (Phoenix-Libs: 24.0.0-beta-7) Java: Fixed an issue where SignalLogger.writeString() would not write the full string value.
• (Phoenix-Libs: 24.0.0-beta-7) Java: Fixed SignalLogger array user signals.
• (Phoenix-Libs: 24.0.0-beta-7) Simulation: Fixed performance issues when the SignalLogger is enabled.
• (owlet: 0.1.6.0) Fixed export of arrays that are the maximum length supported (such as double[8]).
• (owlet: 0.1.6.0) Fixed export of short hoot logs to wpilog.
• (owlet: 0.1.6.0) Fixed license check sometimes erroneously failing.

2023/12/15

Added 2023/12/15

• (Phoenix 6 Firmware: 24.0.6.0) Updated to support beta-5 API.
• (Phoenix-5: 5.32.0-beta-4) Updated to support WPILib beta-4 and the 2024_v2.0 roboRIO image.
• (Phoenix-Libs: 24.0.0-beta-5) Updated to support WPILib beta-4 and the 2024_v2.0 roboRIO image.
• (Phoenix-Libs: 24.0.0-beta-5) Added Motion Magic® Expo control requests. Motion Magic® Expo uses an exponential profile instead of a trapezoidal profile, better matching the system dynamics.
• (Phoenix-Libs: 24.0.0-beta-5) Updated the swerve API to support a wider variety of controls. Users can now select between TorqueCurrentFOC and Voltage control output for both the drive and steer motors. Additionally, the steer motors now support Motion Magic® Expo.
• (Phoenix-Libs: 24.0.0-beta-5) Pigeon 2: Added world-reference angular velocities that follow the mounting orientation.
• (Phoenix-Libs: 24.0.0-beta-5) Changed the default SignalLogger path to use a logs folder.
• (Phoenix-Libs: 24.0.0-beta-5) Added a RobotEnable signal to the SignalLogger.
• (Phoenix-Libs: 24.0.0-beta-5) Added a CANBus API to get information about a CAN bus, such as bus utilization and error counters.
• (Phoenix-Libs: 24.0.0-beta-5) Updated diagnostic server to support reporting CANivore error counters to Tuner X.
• (Phoenix-Libs: 24.0.0-beta-5) Updated the API documentation to mention whether a signal supports timesync.
• (Pigeon2 (v6): 24.0.6.0) Added world-reference angular velocities that follow the mounting orientation.
• (Talon FX (v6): 24.0.6.0) Added support for Motion Magic® Expo control.
• (Tuner X: 2024.5.6.0) Added CANivore error counters to the CANivore details panel.
• (Tuner X: 2024.5.6.0) Update the Swerve Project Generator to use WPILib beta-4 and the Phoenix 6 beta-5 API.
• (Tuner X: 2024.5.6.0) Update owlet to support the beta-5 API.
• (Tuner X: 2024.5.6.0) Updated the Temporary Diagnostic Server and LabVIEW IPKs to support the 2024 API.
• (Tuner X: 2024.5.6.0) Added the Kraken X60 device image.
• (owlet: 0.1.5.0) Updated to support beta 5 API and firmware.

Fixed 2023/12/15

• (Phoenix-Libs: 24.0.0-beta-5) Improved the error message when applying or refreshing configs with a timeout of 0.
• (Phoenix-Libs: 24.0.0-beta-5) Improved the behavior of latency compensation with stale/missing signals.
• (Phoenix-Libs: 24.0.0-beta-5) Python: Added missing generic SlotConfigs config group.
• (Phoenix-Libs: 24.0.0-beta-5) Improved the robustness of field upgrading CANcoder vH.
• (Phoenix-Libs: 24.0.0-beta-5) Fixed Tuner X config apply sometimes failing due to the applied configs not matching those read from the device.
• (Phoenix-Libs: 24.0.0-beta-5) Simulation: Fixed performance issues when simulating a Phoenix 6 Pigeon 2.
• (Phoenix-Libs: 24.0.0-beta-5) Simulation: Improved overall performance and reduced CPU usage.
• (Tuner X: 2024.5.6.0) Fixed the CANivore firmware dropdown being empty when CANivore is running ship firmware.
• (Tuner X: 2024.5.6.0) Fixed the batch upgrade custom firmware selection sometimes showing a blank selected firmware version.
• (Tuner X: 2024.5.6.0) Fixed control sliders allowing decimal values for integer control parameters.
• (owlet: 0.1.5.0) Fixed an issue where owlet incorrectly reported hoot files as unlicensed.

2023/12/05

Added 2023/12/05

• (Phoenix 6 Firmware: 24.0.5.0) Updated to support beta-4 API.
• (Phoenix-5: 5.32.0-beta-3) Deprecated the TalonFX, CANcoder, and Pigeon2 classes with intent to remove in 2025. Users should migrate to the Phoenix 6 API.
• (Phoenix-Libs: 24.0.0-beta-4) Control requests now have LimitForwardMotion and LimitReverseMotion parameters. These can be used to limit motion based on the output of a limit switch attached to the robot controller.
• (Phoenix-Libs: 24.0.0-beta-4) Added support for using CANcoder as a remote limit switch for a Talon FX.
• (Phoenix-Libs: 24.0.0-beta-4) Simulation: Added support for setting the simulated CANcoder magnet health.
• (Talon FX (v6): 24.0.5.0) Added support for using CANcoder as a remote limit switch.
• (Talon FX (v6): 24.0.5.0) Added support for the control request LimitForwardMotion and LimitReverseMotion parameters.
• (Tuner X: 2024.5.5.0) Added support for SDS MK4i modules with the 16T pinion.
• (Tuner X: 2024.5.5.0) Added a separate dropdown to switch between Phoenix 5 and Phoenix 6 firmware.
• (Tuner X: 2024.5.5.0) Added a button to the swerve project generator to generate only the TunerConstants file. This can be useful for regenerating device IDs and encoder offsets after swapping a device.
• (Tuner X: 2024.5.5.0) Update owlet to support the beta-4 API.
• (owlet: 0.1.4.0) Updated to support beta 4 API and firmware.

Fixed 2023/12/05

• (Phoenix-Libs: 24.0.0-beta-4) Fixed a beta-3 regression where simulated devices took a long time to initialize.
• (Phoenix-Libs: 24.0.0-beta-4) Fixed the behavior of SwerveDrivetrain in simulation when the steer motors are inverted.
• (Phoenix-Libs: 24.0.0-beta-4) Fixes issue reported in 23.0.1. C++: Static-initialization of a TalonFX object no longer freezes the WPILib simulation GUI.
• (Phoenix-Libs: 24.0.0-beta-4) C++: Fixed non-FRC compilation of the units library when using the fmt library.
• (Talon FX (v6): 24.0.5.0) Fixed the behavior of differential duty cycle controls.
• (Tuner X: 2024.5.5.0) Fixed the Activate Licenses popup not showing the number of available license seats.
• (Tuner X: 2024.5.5.0) Fix an issue where the Swerve Project Generator would fail steer and drive verification when using beta-4 API and firmware.

2023/11/22

Added 2023/11/22

• (CANcoder (v6): 24.0.4.1) Changed the default absolute sensor range config to Signed_PlusMinusHalf.
• (CANivore: 24.0.0.1) Added support for 2024 CANivore licenses.
• (Phoenix 6 Firmware: 24.0.4.1) Updated to support beta-3 API.
• (Phoenix 6 Firmware: 24.0.4.1) Added support for device timestamps.
• (Phoenix-Libs: 24.0.0-beta-3) Added with*() methods to configuration objects to support the builder pattern.
• (Phoenix-Libs: 24.0.0-beta-3) Added support for StatusSignal device timestamps (requires Phoenix Pro and CANivore). A device timestamp is captured when the device captures the data sent in the CAN frame. It can be assumed that there is no latency between the timestamp and the signal’s reported value.
• (Phoenix-Libs: 24.0.0-beta-3) hoot logs from the SignalLogger are now saved to the first USB flash drive found, or /home/lvuser/logs if none exists.
• (Phoenix-Libs: 24.0.0-beta-3) hoot logs from the SignalLogger will now be renamed to include the event name and match number during competition.
• (Phoenix-Libs: 24.0.0-beta-3) Changed the default CANcoder absolute sensor range config to Signed_PlusMinusHalf.
• (Tuner X: 2024.5.3.0) Update the Swerve Project Generator to use beta-3 API.
• (Tuner X: 2024.5.3.0) Update owlet to support the beta-3 API.
• (owlet: 0.1.3.0) Updated to support beta 3 API and firmware.

Fixed 2023/11/22

• (Phoenix-Libs: 24.0.0-beta-3) Added missing API documentation for the Java Swerve API.
• (Phoenix-Libs: 24.0.0-beta-3) Fixed an issue where SwerveDrivetrain OdometryThread occasionally prevented application shutdown.
• (Phoenix-Libs: 24.0.0-beta-3) Java/C#: Improved the thread safety of cloned StatusSignals.
• (Phoenix-Libs: 24.0.0-beta-3) Python: Fixed the list of exported types.
• (Phoenix-Libs: 24.0.0-beta-3) Fixes issue reported in 23.10.0-alpha7. Python: Fixed missing setters for devices, such as set_position().
• (Phoenix-Libs: 24.0.0-beta-3) Python: Fixed missing optional arguments for control requests.
• (Phoenix-Libs: 24.0.0-beta-3) Fixes issue reported in 23.10.0-alpha7. Python: Fixed missing error reporting.
• (Phoenix-Libs: 24.0.0-beta-3) Fixes issue reported in 23.10.0-alpha7. Python: Fixed missing class descriptions.
• (Phoenix-Libs: 24.0.0-beta-3) Python: Added missing SignalLogger API.
• (Phoenix-Libs: 24.0.0-beta-3) Python: Added missing BaseStatusSignal and ParentDevice APIs, such as wait_for_all(), set_update_frequency(), and optimize_bus_utilization().
• (Phoenix-Libs: 24.0.0-beta-3) Fixed missing faults in the Talon FX Self Test.
• (Phoenix-Libs: 24.0.0-beta-3) Improved version checking when applying and refreshing configs.
• (Tuner X: 2024.5.3.0) Fixed issue where some buttons in the Swerve Project Generator page could not be clicked if the window was too narrow.
• (Tuner X: 2024.5.3.0) Fixed missing Motion Magic control for Phoenix 5 devices.
• (Tuner X: 2024.5.3.0) Fixed default window size on high DPI monitors.

Known Issues 2023/11/22

• (CANivore: 24.0.0.1) Fixed by 24.0.1.0. A particular and extended CAN disconnect event may trigger a USB re-enumeration, momentary red LED on STAT, and reported DS Log error indicating CANivore USB was disconnected/reconnected. This is a result of CANivore detecting the error condition and attempting to recover. To observe the issue, the following conditions must be met: CAN bus is severed so that there is no second termination resistor at the far end, at least one CAN device is still in circuit with CANivore CAN bus, and CAN LED is consistently red for at least two seconds. Discovered by Customer Email

2023/11/08

Added 2023/11/08

• (Phoenix-Libs: 24.0.0-beta-2) Improved the API documentation of the velocity setpoint in position control and the acceleration setpoint in velocity control. These are typically used for motion profiles generated on the roboRIO.
• (Phoenix-Libs: 24.0.0-beta-2) Added setNeutralMode() to the Talon FX API. This is equivalent to setting the NeutralMode config in MotorOutputConfigs.
• (Talon FX (v6): 24.0.3.1) Reduced noise in the derivative error of position control and Motion Magic® when using RotorSensor, RemoteCANcoder, FusedCANcoder, or SyncCANcoder.
• (Talon FX (v6): 24.0.3.1) Reduced noise in the derivative error of velocity control when using RotorSensor, FusedCANcoder, or SyncCANcoder.
• (Tuner X: 2024.5.1.0) Added SDS MK4 and MK4i modules to the Swerve Project Generator.
• (Tuner X: 2024.5.1.0) Tuner X now generates the swerve coupling ratio for non-Custom modules.
• (Tuner X: 2024.5.1.0) Improved the Zero CANcoder error message when the diagnostic server is too old.
• (Tuner X: 2024.5.1.0) Improved the behavior of the Swerve Project Generator while offline. Users can now regenerate code from an existing project JSON while disconnected from a robot.
• (owlet: 0.1.2.0) Improved checking that the hoot log file is compatible with the owlet version.
• (owlet: 0.1.2.0) Improved checking for corrupt hoot log files.

Fixed 2023/11/08

• (Phoenix 6 Firmware: 24.0.3.1) Fixes issue reported in 24.0.2.0. Fixed Season Pass licensed devices reporting not Pro licensed.
• (Phoenix 6 Firmware: 24.0.3.1) Fixed UnlicensedFeatureInUse sticky fault on boot-up when device is Season Pass licensed.
• (Phoenix-Libs: 24.0.0-beta-2) C++: Fixed the inclusion of Windows.h in a public header. This caused some compilation errors in certain circumstances.
• (Phoenix-Libs: 24.0.0-beta-2) C++: Device objects now have virtual destructors.
• (Phoenix-Libs: 24.0.0-beta-2) Fixed missing API documentation on some Pigeon 2 methods.
• (Phoenix-Libs: 24.0.0-beta-2) Fixed the MusicTone control not working on the roboRIO and Linux robot controllers.
• (Phoenix-Libs: 24.0.0-beta-2) Fixed RefreshAll and WaitForAll not reporting firmware version errors.
• (Phoenix-Libs: 24.0.0-beta-2) Improved the error reporting for a missing/disconnected CANivore.
• (Tuner X: 2024.5.1.0) Fixes issue reported in 2024.5.0.0. Improved the robustness of plotting after restarting the robot program or roboRIO.
• (Tuner X: 2024.5.1.0) Fixes issue reported in 2024.5.0.0. Fixed batch updating to Phoenix 5 firmware.
• (Tuner X: 2024.5.1.0) Fixed broken tooltips on Windows.
• (Tuner X: 2024.5.1.0) Fixed control parameters defaulting to the wrong values.
• (Tuner X: 2024.5.1.0) Tuner X now restores the window size and whether the application is maximized on startup.
• (Tuner X: 2024.5.1.0) Fixed the CANdle VBat Output Behavior displaying as an integer instead of a drop-down.
• (Tuner X: 2024.5.1.0) Improved the robustness and behavior of the Swerve Project Generator.

2023/10/25

Added 2023/10/25

• (Tuner X: 2024.5.0.0) The licensing popup now warns the user if there are Season Pass licenses without an assigned team number.
• (Tuner X: 2024.5.0.0) On Windows, improved the visibility of the Control section.
• (Tuner X: 2024.5.0.0) Updated the Swerve Generator to use the 2024 beta libraries.
• (owlet: 0.1.0.0) Added support for exporting custom user signals.
• (owlet: 0.1.0.0) Added support for selecting a subset of signals to export.
• (owlet: 0.1.0.0) Improved performance of log export.

Fixed 2023/10/25

• (Tuner X: 2024.5.0.0) Robustness improvements for automatic firmware download.
• (Tuner X: 2024.5.0.0) Fixed missing notification when new firmware is automatically downloaded.
• (Tuner X: 2024.5.0.0) Fixed some actions failing on Android when the Wifi network does not have internet.
• (Tuner X: 2024.5.0.0) Fixed the Tuner X update available notice.
• (Tuner X: 2024.5.0.0) Improved robustness and responsiveness of activating device licenses.
• (Tuner X: 2024.5.0.0) Season Pass licenses now show the associated team number.
• (Tuner X: 2024.5.0.0) Fixed Season Pass licenses incorrectly appearing in the CANivore licensing popup.
• (Tuner X: 2024.5.0.0) Fixed missing hover effects on buttons.
• (Tuner X: 2024.5.0.0) Fixed the Pigeon 2 workaround button.
• (Tuner X: 2024.5.0.0) Fixed Tuner X taking a long time to close.
• (Tuner X: 2024.5.0.0) Fixes issue reported in 2023.2.0.0. Performance improvements.
• (owlet: 0.1.0.0) Improved error messages when bad arguments are supplied.

Known Issues 2023/10/25

• (Tuner X: 2024.5.0.0) Fixed by 2024.5.1.0. Batch updating to Phoenix 5 firmware fails. The batch update reports a file not found error for Phoenix 5 firmware. The workaround is to either manually select the Phoenix 5 firmware file, or update the devices from the individual device details pages. Discovered by Internal Testing
• (Tuner X: 2024.5.0.0) Fixed by 2024.5.1.0. Plotting may not show points after restarting the robot program or roboRIO. The workaround is to leave and re-open the device details page. Discovered by Internal Testing

2023/10/19

Added 2023/10/19

• (Phoenix 6 Firmware: 24.0.2.0) Support for 2024 beta.
• (Phoenix-5: 5.32.0-beta-1) Updates for FRC Beta.
• (Phoenix-Libs: 24.0.0-beta-1) Updates for FRC Beta.
• (Phoenix-Libs: 24.0.0-beta-1) Uses new Jerk unit for DynamicMotionMagic.
• (Phoenix-Libs: 24.0.0-beta-1) Improved robustness for config set and get.

Known Issues 2023/10/19

• (Phoenix 6 Firmware: 24.0.2.0) Fixed by 24.0.3.1. Season Pass licensed devices report not Pro licensed. If your devices are licensed using Season Pass, update to firmware version 24.0.3.1 or later. Discovered by Customer Email
• (Talon FX (v6): 24.0.2.0) Remote Sensor Data Invalid sticky fault occurs on first configure of remote feedback source. The first time a Talon FX is configured to use a remote feedback source, the Remote Sensor Data Invalid sticky fault trips. To workaround this, clear the sticky faults after initial configure of remote feedback source. Discovered by Internal Testing

2023/10/09

Added 2023/10/09

• (Phoenix 6 Firmware: 23.20.8.0) Bumped compliancy to support new API features.
• (Phoenix-Libs: 23.10.0-alpha8) Changed getError to getStatus in StatusSignal objects.
• (Phoenix-Libs: 23.10.0-alpha8) Improved performance of setControl in Java.
• (Phoenix-Libs: 23.10.0-alpha8) Checks for disk space before starting signal log capture.
• (Phoenix-Libs: 23.10.0-alpha8) General improvements to Swerve API.
• (Phoenix-Libs: 23.10.0-alpha8) Added motor output voltage signal getter.
• (Talon FX (v6): 23.20.8.0) Added acceleration signal.
• (owlet: 0.0.0.2) Added WPILog as export type.
• (owlet: 0.0.0.2) Added WPILog free-signal export. This allows some Phoenix 6 signals to be exported regardless of license state to be used for debugging or basic characterization. Extended signal export requires Pro license at time of signal log capture.
• (owlet: 0.0.0.2) Speeds up MCAP export.

Fixed 2023/10/09

• (Phoenix-Libs: 23.10.0-alpha8) Fixes issue reported in 23.10.0-alpha3. Java signal logger start no longer crashes robot program.

2023/09/13

Added 2023/09/13

• (Phoenix 6 Firmware: 23.20.6.0) Added improved api-firmware compliance checking. This is similar to version-checking, however it checks breakage both forwards and backwards, to ensure the device firmware is compliant with the API being used. Firmware that is too old will be reported as FirmwareTooOld, and firmware that is too new will be reported as ApiTooOld.
• (Phoenix-Libs: 23.10.0-alpha7) Added compliance checking for improved api-firmware compliance checking.
• (Phoenix-Libs: 23.10.0-alpha7) Added Python API.
• (Phoenix-Libs: 23.10.0-alpha7) Added unit for setter API docs.

Fixed 2023/09/13

• (Phoenix-Libs: 23.10.0-alpha7) All JNI classes now properly extend CtreJniWrapper to ensure the dynamic library is loaded before any calls into JNI.
• (Talon FX (v6): 23.20.6.2) Fixes issue reported in 23.4.0.3. Added support for control over PWM.

Known Issues 2023/09/13

• (Phoenix-Libs: 23.10.0-alpha7) Fixed by 24.0.0-beta-3. Python libs do not have error reporting. The current python libraries do not implement error reporting to the console/driver station. Errors are still exposed through the get_error() and return values of functions. Discovered by Internal Testing
• (Phoenix-Libs: 23.10.0-alpha7) Fixed by 25.0.0-beta-1. Python libs do not have top-level device classes. The current python libraries do not have top-level device classes. Devices such as TalonFX must be accessed through the CoreTalonFX class currently, and do not implement WPILib-specific interfaces. Basic functionality is still supported and available through the Core* device classes. Discovered by Internal Testing
• (Phoenix-Libs: 23.10.0-alpha7) Python libraries do not support compound control requests. The current python libraries do not support compound control requests used in mechanism objects. Discovered by Internal Testing
• (Phoenix-Libs: 23.10.0-alpha7) Fixed by 24.0.0-beta-3. Python classes do not have comments. Not every python library class contains a comment explaining what the class is and what it does. Discovered by Internal Testing
• (Phoenix-Libs: 23.10.0-alpha7) Fixed by 24.0.0-beta-3. Python libraries do not have setters. The current python libraries do not implement setters for devices. Methods such as set_position() are not available for TalonFX/CANcoder. This will be addressed in a future release. Discovered by Internal Testing

2023/08/29

Added 2023/08/29

• (Pigeon2 (v6): 23.20.2.0) Cut for Alpha 6 support.
• (Talon FX (v6): 23.20.5.2) Added support for MotionMagicVelocityDutyCycle, MotionMagicVelocityVoltage, MotionMagicVelocityTorqueCurrentFOC.
• (Talon FX (v6): 23.20.5.2) Added support for DynamicMotionMagicDutyCycle, DynamicMotionMagicVoltage, DynamicMotionMagicTorqueCurrentFOC. This allows CANivore users to change their profiling params on the fly.
• (Talon FX (v6): 23.20.5.2) Increased range for supply voltage reporting.
• (Talon FX (v6): 23.20.5.2) Added support for SyncCANcoder feedback. This allows users to synchronize the TalonFX’s internal rotor sensor against the remote CANcoder, but continue to use the rotor sensor for all closed loop control. TalonFX will continue to monitor the remote CANcoder and report if its internal position differs significantly from the reported position, or if the remote CANcoder disappears from the bus. Users may want this instead of FusedCANcoder if there is risk that the sensor can fail in a way that the sensor is still reporting “good” data, but the data does not match the mechanism, such as if the entire sensor mount assembly breaks off. Users using this over FusedCANcoder will not have the backlash compensation, as the CANcoder position is not continually fused in.

2023/08/28

Added 2023/08/28

• (CANcoder (v6): 23.20.3.0) Improvements to the sensor reporting for Fused and Sync CANcoder feedback modes on the TalonFX.
• (CANcoder (v6): 23.20.3.0) Cut for Alpha 6 support.

2023/08/25

Added 2023/08/25

• (Phoenix-Libs: 23.10.0-alpha6) Adds sim support for swerve drive classes.
• (Phoenix-Libs: 23.10.0-alpha6) Adds register function to include ability to telemeterize swerve state data as it’s calculated.

Fixed 2023/08/25

• (Phoenix-Libs: 23.10.0-alpha6) Changes SwerveModuleConstantsFactory to follow builder pattern.
• (Phoenix-Libs: 23.10.0-alpha6) Makes SwerveModule’s apply method public for custom SwerveRequests.
• (Phoenix-Libs: 23.10.0-alpha6) Crash on windows-sim (C++ app) shutdown when using SignalLogger.

2023/08/23

Added 2023/08/23

• (Phoenix-Libs: 23.10.0-alpha5) Added Swerve Drive API for automatic odometry and simplified control of swerve-style drivetrains.

Fixed 2023/08/23

• (Phoenix-Libs: 23.10.0-alpha5) Java sim no longer crashes on close if logger is not manually stopped.
• (Phoenix-Libs: 23.10.0-alpha5) Reading CustomParam0 always fails.
• (Talon FX (v6): 23.20.4.0) Fixed erratic stator current limiting when stator current limit is set above 240 Amperes.

2023/08/15

Fixed 2023/08/15

• (Talon FX (v6): 23.20.3.0) Unable to control TalonFX using FusedCANcoder, stuck with Missing Remote Sensor fault.

2023/08/07

Added 2023/08/07

• (Phoenix-Libs: 23.10.0-alpha3) Added signal logging for simulation. This enables the same .hoot file logging during simulation as what happens when on a robot, so you can analyze your simulated robots.

Fixed 2023/08/07

• (Phoenix-Libs: 23.10.0-alpha3) Various improvements to Orchestra and added MusicTone control. New configs also added for audio features.
• (Phoenix-Libs: 23.10.0-alpha3) Fixed recent alpha regression in hardware-attached simulation whereby application may crash during exit.
• (Talon FX (v6): 23.20.2.1) Various improvements to Orchestra and added MusicTone control. New configs also added for audio features.
• (Talon FX (v6): 23.20.2.1) Overflow no longer occurs when synchronizing to a Fused CANcoder.

Known Issues 2023/08/07

• (Phoenix-Libs: 23.10.0-alpha3) Fixed by 23.10.0-alpha8. Java startLog crashes robot program. Calling the startLog method crashes the robot program on program exit. Discovered by Internal Testing

2023/08/04

Added 2023/08/04

• (CANcoder (v6): 23.20.1.8) Velocity no longer drops to zero at position overflow point.
• (Phoenix-Libs: 23.10.0-alpha1) Added match triggers for signal logging.
• (Talon FX (v6): 23.20.1.8) Velocity no longer drops to zero at position overflow point.

Fixed 2023/08/04

• (Phoenix-Libs: 23.10.0-alpha1) Fix config group documentation to correctly describe the config groups.
• (Phoenix-Libs: 23.10.0-alpha1) Fixes issue reported in 23.10.0-alpha1. Important C++ functions use primitives instead of unit’d parameters in their definitions.
• (Phoenix-Libs: 23.10.0-alpha1) Fixes issue reported in 23.10.0-alpha1. Fixed nonexistant C++ header in include path.
• (Phoenix-Libs: 23.10.0-alpha1) Fixes issue reported in 23.10.0-alpha1. Signal names correctly spelled.
• (Phoenix-Libs: 23.10.0-alpha1) C++ Signal Logger API is now public, when it was private before.

2023/08/03

Added 2023/08/03

• (Tuner X: 2024.1.1.0) Firmware selection now has a dropdown for year, allowing selection of older firmware.
• (Tuner X: 2024.1.1.0) Added support for fancy plotting on supported diagnostic server versions.
• (Tuner X: 2024.1.1.0) Enable/disable buttons have been reworked to more clearly distinguish state.
• (Tuner X: 2024.1.1.0) Refactored and improved the device details view to better allow configuration, plotting and control simultaneously.
• (Tuner X: 2024.1.1.0) Refactored the Android device view layout.

Fixed 2023/08/03

• (Tuner X: 2024.1.1.0) Fixed slow startup and navigation performance.
• (Tuner X: 2024.1.1.0) Fixed poor performance when plotting multiple signals.
• (Tuner X: 2024.1.1.0) Fixed various actions timing out in Android Tuner.
• (Tuner X: 2024.1.1.0) Fixed connection status bar showing disconnected when connected.
• (Tuner X: 2024.1.1.0) Fixed licensing sometimes failing to load on Android Tuner.
• (Tuner X: 2024.1.1.0) Fixes issue reported in 2023.1.4.0. Fixed control stuttering and causing the device to disable.
• (Tuner X: 2024.1.1.0) Fixed SSH credential popup sometimes not appearing.
• (Tuner X: 2024.1.1.0) Fixed poor performance when switching between multiple text fields.
• (Tuner X: 2024.1.1.0) Fixed memory leak when plotting for long periods of time.
• (Tuner X: 2024.1.1.0) Fixed unclean shutdown that would cause the application to lose settings.
• (Tuner X: 2024.1.1.0) Fixed various clipping of icons, labels and text.
• (Tuner X: 2024.1.1.0) Fixed firmware flashing on non-roboRIO platforms.
• (Tuner X: 2024.1.1.0) Fixed issue where CANivore USB toggle would be disabled.
• (Tuner X: 2024.1.1.0) Fixes issue reported in 2022.3.2.0. Fixed temporary diagnostic server deployment on non-roboRIO platforms.

Known Issues 2023/08/03

• (Tuner X: 2024.1.1.0) Fixed by 2025.1.0.0. Export as CSV plot feature is missing. The Export as CSV button on the plotter is missing. This will be readded in a later release. Discovered by Internal Testing

2023/07/31

Added 2023/07/31

• (Phoenix 6 Firmware: 23.20.1.7) Adds support for Season Pass License.
• (Phoenix-Libs: 23.10.0-alpha1) Added getValueAsDouble for java/c++.
• (Phoenix-Libs: 23.10.0-alpha1) Adds signal logging for Phoenix 6 devices.
• (Phoenix-Libs: 23.10.0-alpha1) Adds Orchestra support.
• (Phoenix-Libs: 23.10.0-alpha1) Adds C# to our supported languages list. C# libraries are available on NuGet for Windows devices. Link is available at https://www.nuget.org/packages/Phoenix6.
• (Phoenix-Libs: 23.10.0-alpha1) Adds support for several differential control modes (useful for differential swerve, differential tank, etc).
• (Phoenix-Libs: 23.10.0-alpha1) Adds setUpdateFrequencyForAll BaseStatusSignal method, which allows setting frequencies of several StatusSignals at once.
• (Phoenix-Libs: 23.10.0-alpha1) Adds optimizeBusUtilization, which auto deactivates status frames that user has not set update frequency of.
• (Phoenix-Libs: 23.10.0-alpha1) Smarter management of status frame frequencies. Frequencies are reapplied automatically when devices reset.
• (Phoenix-Libs: 23.10.0-alpha1) C++ StatusCodes have an ostream operator.
• (Phoenix-Libs: 23.10.0-alpha1) Improved API doc for setInverted and getInverted.
• (Phoenix-Libs: 23.10.0-alpha1) StatusSignal now has a Name getter.
• (Phoenix-Libs: 23.10.0-alpha1) Performance improvement with synchronous API (WaitForAll).
• (Phoenix-Libs: 23.10.0-alpha1) Phoenix 6 simulation used to write files to C: emp.
• (Phoenix-Libs: 23.10.0-alpha1) Improve API documentation of Positon vs RotorPosition.
• (Phoenix-Libs: 23.10.0-alpha1) C++: Additional WaitForAll parameter overrides have been added.
• (Phoenix-Libs: 23.10.0-alpha1) TalonFX: Various improvements in Stator Current limit feature.
• (Phoenix-Libs: 23.10.0-alpha1) Fixes issue reported in 23.0.12. Corrections to RotorPosition reporting in simulation of TalonFX.
• (Phoenix-Libs: 23.10.0-alpha1) Added WithFusedCANcoder and WithRemoteCANcoder to supported config classes.
• (Phoenix-Libs: 23.10.0-alpha1) Simulation improvements in AutoFeedEnable for Unit Tests.
• (Phoenix-Libs: 23.10.0-alpha1) Added kG constant to Talon FX position closed-looping.
• (Phoenix-Libs: 23.10.0-alpha1) Add kA and Velocity/Acceleration setpoints to Talon FX Position/Velocity control.
• (Phoenix-Libs: 23.10.0-alpha1) Added missing remote limit and remote sensors features from Phoenix 5 into Phoenix 6.

Fixed 2023/07/31

• (Talon FX (v6): 23.20.1.7) Fixes issue reported in 23.10.1.0. “setRotorPosition” actually sets mechanism position.
• (Talon FX (v6): 23.20.1.7) Fixes issue reported in 23.6.4.1. Fixed Fused Sensor Out of Sync sticky fault occurs on first configure of FusedCANcoder feedback source.

Known Issues 2023/07/31

• (Phoenix-Libs: 23.10.0-alpha1) Fixed by 23.10.0-alpha1. Some C++ functions with unit’d parameters behave strangely on non-rio platforms. Some C++ functions that use units:: parameters don’t function as expected on non-rio platforms. This is fixed in alpha-3. Discovered by Alpha Tester
• (Phoenix-Libs: 23.10.0-alpha1) Fixed by 23.10.0-alpha1. Nonexistant file included in some C++ headers. A nonexistant file is included in some C++ headers, causing compilation issues. Discovered by Alpha Tester
• (Phoenix-Libs: 23.10.0-alpha1) Fixed by 23.10.0-alpha1. Various signal names were misspelled. BridgeOutput, SaturatedMagnetometer, and SaturatedGyroscope signals were misspelled. Discovered by Alpha Tester

2023/07/19

Added 2023/07/19

• (Phoenix-Libs: 23.2.1) Added support for Pigeon 2 vers. S devices. This support is purely for diagnostic firmware upgrades.
• (Pigeon2 vS (v5): 22.7.3.0) Add support for Pigeon 2 vers. S’s.
• (Pigeon2 vS (v6): 23.10.6.0) Add support for Pigeon 2 vers. S’s.

2023/06/21

Fixed 2023/06/21

• (CANivore: 23.3.0.1) Robustness improvements in handling partial USB connections due to a faulty USB cable.
• (canivore-usb: 1.12) Robustness improvements in handling partial USB connections due to a faulty USB cable.
• (canivore-usb: 1.12) Fixes issue reported in 1.9. Prevent CPU spikes on the roboRIO that occur every 30 seconds after boot.

2023/06/07

Known Issues 2023/06/07

• (Talon FX (v6): 23.10.1.0) Fixed by 23.20.1.7. “setRotorPosition” actually sets mechanism position. The method “setRotorPosition” is misnamed and does not set the rotor position. It instead sets the mechanism position in mechanism rotations. Discovered by Customer Email

2023/06/02

Fixed 2023/06/02

• (CANivore: 23.2.4.0) Improved USB reconnects for CANivores manufactured after May 1, 2023.

2023/05/25

Fixed 2023/05/25

• (Phoenix 6 Firmware: 23.10.1.0) Fixes issue reported in 23.10.0.1. Fixed configs not being persistent.

2023/05/18

Added 2023/05/18

• (CANcoder (v6): 23.10.0.1) Added support for the free Phoenix 6 API.
• (CANcoder (v6): 23.10.0.1) Improved CAN bus utilization on CAN 2.0.
• (Phoenix-6: 23.1.0) Added an AddYaw method to the Pigeon 2 SimState object.
• (Phoenix-6: 23.1.0) Moved the phoenixpro folders, packages, and namespaces to phoenix6. The phoenixpro namespace is deprecated for removal in 2024.
• (Phoenix-6: 23.1.0) Renamed BaseStatusSignalValue and StatusSignalValue to BaseStatusSignal and StatusSignal. BaseStatusSignalValue and StatusSignalValue are deprecated for removal in 2024.
• (Phoenix-6: 23.1.0) Improved the default control frame update frequency for follower and neutral controls.
• (Pigeon2 (v6): 23.10.0.1) Added support for the free Phoenix 6 API.
• (Pigeon2 (v6): 23.10.0.1) Improved CAN bus utilization on CAN 2.0.
• (Talon FX (v6): 23.10.0.1) Added support for the free Phoenix 6 API.
• (Talon FX (v6): 23.10.0.1) Added faults for using Pro features while unlicensed.
• (Talon FX (v6): 23.10.0.1) Improved CAN bus utilization on CAN 2.0.
• (Talon FX (v6): 23.10.0.1) While disabled, the Talon FX beeps when configuring, blinking, and setting device name and ID.
• (Tuner X: 2023.3.1.0) Added support for Phoenix 6.
• (Tuner X: 2023.3.1.0) Improved the Plot page enable/disable button.
• (Tuner X: 2023.3.1.0) Automatically refresh device configs and self test when entering the device view page.

Fixed 2023/05/18

• (Phoenix-6: 23.1.0) Fixes issue reported in 23.0.12. In Java, improved the performance of the JNI layer.
• (Phoenix-6: 23.1.0) Moved SetUpdateFrequency from StatusSignal to BaseStatusSignal.
• (Tuner X: 2023.3.1.0) Fixed refreshing configs expanding user-collapsed config groups.

Known Issues 2023/05/18

• (Phoenix 6 Firmware: 23.10.0.1) Fixed by 23.10.1.0. Configs are not saved persistently. This is a bug with this specific off-season firmware version. Teams that apply all configs to their devices in robotInit are generally unaffected. We recommend teams update to the latest firmware version. Discovered by Internal Testing

2023/04/27

Fixed 2023/04/27

• (canivore-usb: 1.11) Fixes issue reported in 1.10. Cannot install the canivore-usb kernel module on ARM64 systems running Ubuntu 22.04 or newer.

2023/04/26

Fixed 2023/04/26

• (Phoenix-Libs: 23.0.13) Add support for installation of Phoenix Pro on non-FRC Debian-based systems using APT.
• (canivore-usb: 1.10) Fixes issue reported in 1.9. Fixes cannot install the canivore-usb kernel module on Linux kernel versions 5.17.0+.

Known Issues 2023/04/26

• (canivore-usb: 1.10) Fixed by 1.11. Cannot install the canivore-usb kernel module on ARM64 systems running Ubuntu 22.04 or newer. This is caused by a breaking ABI change on Linux ARM64 systems. Discovered by Customer Email

2023/04/12

Fixed 2023/04/12

• (Phoenix-Libs: 23.0.12) Fixes issue reported in 23.0.11. Fixed issue: Control framing may be incorrect under a very specific circumstance.
• (Talon FX (Pro): 23.6.10.1) Fixes issue reported in 23.6.5.0. Fixed issue: If Motion Magic is started while rotor is in motion and jerk config is nonzero, the motion profile may have a discontinuity near the end.
• (Talon FX (Pro): 23.6.10.1) Motion Magic now supports modifying jerk and acceleration during motion without introducing profile discontinuities.
• (Talon FX (Pro): 23.6.10.1) Fix Motion Magic start of profile under very specific circumstances: Jerk config is small and non-zero, and previous profile must be truncated due to a late change in final target position.
• (Tuner X: 2023.2.2.0) Fixes issue reported in 2023.2.0.0. Fixed the Sensor Range config enum for Pro CANcoder.
• (Tuner X: 2023.2.2.0) Fixes issue reported in 2023.2.0.0. Fixed deploying temp diagnostic server to a roboRIO 2 that had its team number set by the WPILib roboRIO Team Number Setter.

Known Issues 2023/04/12

• (Phoenix-5: 5.30.4) Fixed by 5.33.0. Cannot construct a device on a CANivore using the CANivore serial number. Users should instead use the configured CANivore name. Discovered by Internal Testing
• (Phoenix-Pro: 23.0.12) Fixed by 23.1.0. In Java, calling refresh() on many StatusSignalValues may cause loop overruns due to the JNI layer. The workaround is to pass all the signals into waitForAll() with a timeout of 0. This performs a bulk refresh of the signals while only paying the cost of JNI once. Discovered by Customer Email
• (Phoenix-Pro: 23.0.12) Fixed by 23.10.0-alpha1. In simulation, the Talon FX rotor position in the WPILib simulation GUI may be incorrect. The reported rotor position may not take into account user calls to setRotorPosition() on the regular device object. This does not affect the raw rotor position or any of API. Discovered by Internal Testing
• (canivore-usb: 1.9) Fixed by 1.10. Cannot install the canivore-usb kernel module on Linux kernel versions 5.17.0+. This affects Ubuntu 22.04+ and certain Debian Bullseye installations. As a workaround, users can switch to Ubuntu 20.04 or an older version of Debian Bullseye. Discovered by Internal Testing
• (canivore-usb: 1.9) Fixed by 1.12. On the 2022 and 2023 roboRIO images, CPU spikes are observed every 30 seconds after boot. This issue will be resolved in 2024. The workaround is to cycle the CANivore USB connection after the robot program first starts up after boot. This can be done programmatically in robotInit() by running caniv --any --reset using the Linux system() API or similar. Discovered by Customer Email

2023/03/29

Added 2023/03/29

• (CANcoder (Pro): 23.1.3.0) Robustness improvements for CANivore licensing when CAN bus wiring is intermittently lost.
• (Pigeon2 (Pro): 23.1.6.0) Robustness improvements for CANivore licensing when CAN bus wiring is intermittently lost.
• (Talon FX (Pro): 23.6.9.0) Robustness improvements for CANivore licensing when CAN bus wiring is intermittently lost.

2023/03/21

Known Issues 2023/03/21

• (CANcoder vH: 20.1.0.0) Devices may disappear in Tuner under a specific circumstance. This issue may present itself if all the following are true: A device is being field-upgraded, there is a CANcoder vH on the bus, that CANcoder vH has ship firmware 20.1.0.0. If all the requirements are met, then devices may disappear from Tuner once the field-upgrade is finished. The process to resolve this is to do the following: Power cycle CANcoder vHs with ship firmware, Flash CANcoder vH with latest firmware, Repeat until every CANcoder vH is updated. This only affects Tuner, this does not affect API. Discovered by Internal Testing

2023/03/17

Added 2023/03/17

• (CANivore: 23.2.3.1) Improved USB connectivity.
• (CANivore: 23.2.3.1) Added support for multiple CANivores on the same CAN bus - Several teams have asked for multiple CANivore support on the same CAN bus, one CANivore on the roboRIO and one CANivore on an external Linux system. For this to work correctly, one of the CANivores must be named “enable-only”. Otherwise, CAN bus errors may occur due to same-frame-ID transmissions from both CANivores. Note that this merely prevents CAN bus errors. It is not required for the roboRIO FRC enable to reach the CAN bus (which is handled by Phoenix). It also does not prevent the roboRIO FRC enable from reaching the CAN bus (which is handled by Phoenix). There is no influence on the robot enable method. Note that teams should ensure diagnostic server only runs on a single robot controller (either just the roboRIO or just the external Linux system). Consult API documentation for instructions on how to disable diagnostics for such systems (typically routine is called setPhoenixDiagnosticsStartTime or similar).
• (Pigeon2 (Pro): 23.1.4.1) Pigeon 2 will not use compass if it is not compass-calibrated regardless of config state.
• (Pigeon2 (v5): 22.6.4.1) Pigeon 2 will not use compass if it is not compass-calibrated regardless of config state.
• (Talon FX (Pro): 23.6.8.2) Added current threshold and current time threshold to supply configs.

Fixed 2023/03/17

• (Phoenix-Libs: 23.0.11) Fixes issue reported in 23.0.10. Remote CANcoder and Fused CANcoder are now supported in simulation.
• (Phoenix-Libs: 23.0.11) Fixes issue reported in 23.0.0-beta-5. Phoenix Pro simulation now supports supply, stator, and torque current. Simulation uses the rotor velocity and applied output to simulate currents.
• (Pigeon2 (Pro): 23.1.4.1) Roll’s range is now [-180, +180) degrees, up from [-90, +90) degrees. This allows teams to use the roll of the Pigeon 2 for mechanisms such as an arm. Teams that have their Pigeon 2’s mounted upside down may want to mount-calibrate their Pigeon 2 to zero out their roll, as it will now correctly report upside-down (+-180 degrees).

Known Issues 2023/03/17

• (Phoenix-Libs: 23.0.11) Fixed by 23.0.12. Control framing may be incorrect under a very specific circumstance. If the CANivore USB disconnects, there is a change in a control parameter, and the CANivore USB reconnects, the new control parameter may not apply. Discovered by Internal Testing

2023/03/01

Fixed 2023/03/01

• (Phoenix-Libs: 23.0.10) The waitForAll() routine may not set StatusCode to OK if timeout is zero. Users may want to use a zero timeout to refresh many signals at once instead of calling refresh() on each signal to reduce call times.
• (Phoenix-Libs: 23.0.10) The waitForAll() routine does not report an error to the driver station despite returning a nonzero StatusCode.
• (Phoenix-Libs: 23.0.10) The C++ WaitForAll() routine now has an override that takes a vector reference instead of an initializer_list.
• (Phoenix-Libs: 23.0.10) The Java waitForAll() routine does not return the StatusCode.
• (Phoenix-Libs: 23.0.10) Fixes issue reported in 22.2.0. The Java waitForAll() routine sets all StatusCode fields of every signal to a common StatusCode when an erroneous condition is detected, instead of only updating the relevant signals.
• (Phoenix-Libs: 23.0.10) Various updates to API documentation including Motion Magic and FusedCANcoder.
• (Talon FX (Pro): 23.6.7.0) Added performance improvement when Talon FX is at or near stall and supply voltage is near brownout threshold.

Known Issues 2023/03/01

• (Phoenix-Libs: 23.0.10) Fixed by 23.0.11. RemoteCANcoder and FusedCANcoder are not supported in simulation. RemoteCANcoder and FusedCANcoder are not supported in simulation. Workaround is to use RotorSensor when in simulation and simulate using the TalonFXSimState. Discovered by Team 3015

2023/02/27

Fixed 2023/02/27

• (Phoenix-Libs: 23.0.9) Java refresh() calls are no longer slower if device is not present on CAN bus.

2023/02/22

Fixed 2023/02/22

• (Talon FX (Pro): 23.6.6.1) Fixes hard/soft limits when closed looping and open looping under certain circumstances.

2023/02/17

Added 2023/02/17

• (Phoenix Diagnostic Server: 2023.1.0) Add support for plotting on Pro devices.
• (Phoenix Installer: 5.30.4.2) Updated Tuner v1 & Phoenix Libs with newest versions.
• (Talon FX (Pro): 23.6.5.0) Added temperatures to self test.
• (Tuner X: 2023.2.0.0) Fixes issue reported in 2023.1.0.0. Added plotting support for Phoenix Pro devices.
• (Tuner v1: 1.9.4.1) Updated temporary diagnostic server to latest version.

Fixed 2023/02/17

• (Phoenix-Libs: 23.0.8) Simulation derivative output now behaves as expected.
• (Talon FX (Pro): 23.6.5.0) Fixes issue reported in 23.6.4.1. Motion Magic movements with a velocity above 80 rotations per second now report the correct velocity.
• (Talon FX (Pro): 23.6.5.0) Fixes issue reported in 23.6.4.1. Motion Magic movements with a cruise velocity of exactly 100 rotations per second now behave as expected.
• (Talon FX (Pro): 23.6.5.0) Added simultaneous-orange blink pattern that was missing in firmware.

Known Issues 2023/02/17

• (Phoenix Diagnostic Server: 2023.1.0) Diagnostic Servers built before July 19, 2023 do not support field-upgrading Pigeon 2 vers. S’s. 2023 Diagnostic Servers built before July 19th may report a InvalidCrfFileSzInvald or that the function requires API version 23.2.0 or greater. To fix this, update to the latest v5/v6 API. This only affects field-upgrade, other functionality is unaffected. Discovered by Internal Testing
• (Talon FX (Pro): 23.6.5.0) Fixed by 23.6.10.1. Discontinuity in motion magic under specific circumstance. If motion magic is started while rotor is in motion and jerk config is nonzero, the motion profile may have a discontinuity near the end. Discovered by Internal Testing
• (Tuner X: 2023.2.0.0) Fixed by 2024.5.0.0. Tuner X may increase the roboRIO CPU load. If Tuner X has a live connection to the roboRIO, the roboRIO CPU may experience higher CPU load as reported in the Driver Station. User can workaround this by closing Tuner X when roboRIO is performing CPU intensive operations, or using Tuner v1 instead. Discovered by Internal Testing
• (Tuner X: 2023.2.0.0) Licensing fails with a CTRE_DI_FeatureNotSupported if caniv is too old. If Kickoff version of Tuner v1 was used to interact with CANivore, Tuner v1 places a too-old version of caniv CLI. This prevents CANivore licensing to occur after license-activation. When this issue occurs the bottom of Tuner X will show “Caniv Version: 1.0.5.0”. Workaround is to use latest Tuner v1 (connected to roboRIO) and poll for CANivores (which will auto install correct version of caniv). Or alternatively roboRIO can be reimaged with latest image, which will update the caniv CLI. We recommend CANivore users avoid using the Kickoff version of Tuner v1 (version 1.9.3.0). Discovered by Customer Email
• (Tuner X: 2023.2.0.0) Fixed by 2023.2.2.0. The Pro CANcoder Sensor Range is displayed as a number. The Pro CANcoder Sensor Range is erroneously displayed as a number instead of text. Refer to the API documentation for the possible enumerated values. Discovered by Internal Testing
• (Tuner X: 2023.2.0.0) Fixed by 2023.2.2.0. Tuner cannot deploy temp diagnostic server to a roboRIO 2 that had its team number set by the WPILib roboRIO Team Number Setter. This is caused by a bug in the WPILib roboRIO Team Number Setter. Workaround is to use the latest Tuner X or re-set the team number using the roboRIO Imaging Tool. Discovered by Team 8728
• (Tuner v1: 1.9.4.1) The Phoenix 6 CANcoder Sensor Range is displayed as a number. The Phoenix 6 CANcoder Sensor Range is erroneously displayed as a number instead of text. Refer to the API documentation for the possible enumerated values. Discovered by Internal Testing
• (Tuner v1: 1.9.4.1) Tuner v1 cannot deploy temp diagnostic server to a roboRIO 2 that had its team number set by the WPILib roboRIO Team Number Setter. This is caused by a bug in the WPILib roboRIO Team Number Setter. Workaround is to use the latest Tuner X or re-set the team number using the roboRIO Imaging Tool. Discovered by Team 8728

2023/02/10

Added 2023/02/10

• (CANivore: 23.2.1.0) Added support for Pigeon 2 workaround.
• (Phoenix-Libs: 23.0.7) Update Simulation with latest changes to Talon FX Firmware.
• (Tuner X: 2023.1.5.0) Added info banner for workaround with Pigeon 2s.
• (Tuner X: 2023.1.5.0) Added Settings button to execute Pigeon 2 workaround.

Fixed 2023/02/10

• (Phoenix-Libs: 23.0.7) Implemented workaround for Pigeon 2s built in September of 2022. See blog post at https://store.ctr-electronics.com/blog/pigeon2-2023-errata/ for details.
• (Phoenix-Libs: 23.0.7) Fixes issue where applying configs when connected over local canivore diagnostic server would time out even though the apply was successful.
• (Talon FX (Pro): 23.6.4.1) Fixes issue reported in 23.6.3.2. Setting position while invert is true now works as expected.
• (Tuner X: 2023.1.5.0) Self test for v5 devices is monospace.
• (Tuner X: 2023.1.5.0) Fixes bug that prevented control from working after switching from v5 firmware to Pro firmware or visa versa without exiting the device details page.

Known Issues 2023/02/10

• (CANivore: 23.2.1.0) Silicon vendor has announced a recent silicon errata that may prevent the CANivore from powering up. The workaround is to ensure CANivore powers up completely on robot power up by checking LEDs or verifying device connectivity through the Driver Station. Silicon errata suggests this affects a very small number of CANivores. CTRE is working with silicon vendor for a complete solution. Discovered by Supplier
• (Talon FX (Pro): 23.6.4.1) Fixed by 23.20.1.7. Fused Sensor Out of Sync sticky fault occurs on first configure of FusedCANcoder feedback source. The first time a Talon FX is configured to use a FusedCANcoder feedback source, the Fused Sensor Out Of Sync sticky fault trips. To workaround this, clear the sticky faults after initial configure of FusedCANcoder feedback source. Discovered by Internal Testing
• (Talon FX (Pro): 23.6.4.1) Fixed by 23.6.5.0. Motion Magic movements with a velocity above 80 rotations per second will report up to 80 rotations per second. Any motion magic movements where the velocity exceeds 80 rotations per second positive or negative will cap their reported velocity to 80 rotations per second. This may be worked around by setting the sensor to mechanism ratio so that the cruise velocity of the mechanism is under 80 rotations per second. Discovered by Internal Testing
• (Talon FX (Pro): 23.6.4.1) Fixed by 23.6.5.0. Cruise Velocity of exactly 100 rotations per second may cause Motion Magic to jump at end of motion. A cruise velocity of exactly 100 rotations per second may cause the Motion Magic profiler to undershoot its position, causing it to jump once it reaches the target position. The workaround is to specify a cruise velocity slightly over or under 100 rotations per second, such as 101 rotations per second. Discovered by Internal Testing

2023/02/06

Fixed 2023/02/06

• (Talon FX (Pro): 23.6.3.2) Fixes issue reported in 23.6.2.0. Setting rotor position with internal feedback sensor no longer offsets position when later configured for Fused CANcoder.
• (Talon FX (Pro): 23.6.3.2) Fixes bug where kD had no effect. Teams should revisit their kD constant to ensure it is not too high for their application.

Known Issues 2023/02/06

• (Talon FX (Pro): 23.6.3.2) Fixed by 23.6.4.1. Set rotor position is negative when invert is on. When setting the rotor position with invert set to true, the reported position with be negative of what was set. Discovered by Customer Email

2023/02/02

Added 2023/02/02

• (Pigeon2 (v5): 22.6.3.1) Further improved CAN robustness during use in CAN 2.0.

Fixed 2023/02/02

• (Pigeon2 (Pro): 23.1.2.1) Fixes issue reported in 22.99.20.0. LEDs will go simultaneous solid-orange for a second when the Pigeon2 boots.
• (Pigeon2 (Pro): 23.1.2.1) Fixes issue reported in 22.99.20.0. Certain configurations of CAN FD bus with Pigeon 2s manufactured after September 2022 no longer cause red blips.
• (Pigeon2 (v5): 22.6.3.1) Fixes issue reported in 22.6.2.2. Certain configurations of CAN FD bus with Pigeon 2s manufactured after September 2022 no longer cause red blips.

Known Issues 2023/02/02

• (Pigeon2 (Pro): 23.1.2.1) Pigeon 2 may report magnetometer fault. Pigeon 2 may occasionally report a magnetometer fault in the self test. This will not affect performance of the Pigeon 2. Discovered by Internal Testing
• (Pigeon2 (Pro): 23.1.2.1) Pigeon 2 may report accelerometer fault. Pigeon 2 may occasionally report an accelerometer fault in the self test if it moves during startup. This will not affect performance of the Pigeon 2 as long these faults do not occur all the time. Discovered by Internal Testing
• (Pigeon2 (v5): 22.6.3.1) Pigeon 2 may report magnetometer fault. Pigeon 2 may occasionally report a magnetometer fault in the self test. This will not affect performance of the Pigeon 2. Discovered by Internal Testing
• (Pigeon2 (v5): 22.6.3.1) Pigeon 2 may report accelerometer fault. Pigeon 2 may occasionally report an accelerometer fault in the self test if it moves during startup. This will not affect performance of the Pigeon 2 as long these faults do not occur all the time. Discovered by Internal Testing

2023/01/30

Fixed 2023/01/30

• (Talon FX (Pro): 23.6.2.0) Fixes issue reported in 23.6.0.2. Inverted motor no longer breaks closed looping.

Known Issues 2023/01/30

• (Pigeon2 (v5): 22.6.2.2) Fixed by 22.6.3.1. Certain CAN FD configurations with Pigeon2 can cause red blips. Certain configurations of Pigeon2 manufactured after September 2022 on a CAN FD bus may cause red blips. Discovered by Customer Email
• (Talon FX (Pro): 23.6.2.0) Fixed by 23.6.3.2. Setting Rotor Position with Internal Feedback Sensor can offset position when later configured for Fused CANcoder. If the user sets rotor position while the internal sensor is selected as the feedback sensor, and later changes the feedback sensor to be Fused CANcoder, the reported position will be offset. Discovered by Internal Testing

2023/01/26

Added 2023/01/26

• (Talon FX (Pro): 23.6.0.2) Added a new remote sensor type “FusedCANcoder” that will fuse Talon’s rotor and a remote CANcoder to produce an absolute sensor source that updates at 1KHz. Note when using CAN 2.0 - fusion only occurs when mechanism is still (CANFD/CANivore is required for continuous fusion). Note RotorToSensor must be configured for feature to function as expected.

Fixed 2023/01/26

• (CANdle: 22.3.1.0) Removed a debug frame.
• (Phoenix-5: 5.30.4) Fixes issue reported in 5.30.3. Calling CANdle’s SetLED directly after ClearAnimation works as expected.
• (Phoenix-Libs: 23.0.5) Fixes issue reported in 23.0.4. Pigeon 2 self test now uses proper template.
• (Phoenix-Libs: 23.0.5) Fixes issue reported in 23.0.4. Fixed issue where certain devices (including 2015 Talon SRXs) required two firmware upgrades to succeed.
• (Talon FX (Pro): 23.6.0.2) Fixes issue reported in 23.5.0.0. Motion magic now adheres to the continuous wrap config.
• (Tuner X: 2023.1.4.0) PCM and CANifier now have icons for Tuner X.
• (Tuner X: 2023.1.4.0) Tuner X can now deploy required libraries for Phoenix LabVIEW.

Known Issues 2023/01/26

• (Talon FX (Pro): 23.6.0.2) Fixed by 23.6.2.0. PID and Soft Limit does not behave as expected if motor invert is true. PID and Soft Limit does not behave as expected if motor invert is true. Discovered by Customer Email
• (Tuner X: 2023.1.4.0) Fixed by 2024.1.1.0. Control over Tuner X may timeout in certain circumstances. If Tuner X is left on for a while (typically over 1 day) and the user tries to control a device through Tuner X, Tuner X may time out the control. If this is observed, cleanly restart Tuner X. Discovered by Internal Testing

2023/01/23

Fixed 2023/01/23

• (Tuner X: 2023.1.3.0) Fixes issue reported in 2023.0.2.0. Joystick input doesn’t change focus any more.
• (Tuner X: 2023.1.3.0) Fixes issue reported in 2023.1.1.0. Device history page no longer crashes under certain circumstances.

2023/01/16

Fixed 2023/01/16

• (Phoenix-Libs: 23.0.4) Fixes issue reported in 2023.0.1. caniv calls on windows now work as expected.
• (Phoenix-Pro: 23.0.3) Fixes issue reported in 23.0.2. Java setters now work as expected.

Known Issues 2023/01/16

• (Phoenix-5: 5.30.3) Fixed by 5.30.4. Calling SetLED directly after a ClearAnimation call will not set LEDs properly. If the user performs a SetLED directly after a ClearAnimation, the SetLED call will not take place. If instead the SetLED happens some time after the ClearAnimation, it will behave as expected. Discovered by Team 971
• (Phoenix-Libs: 23.0.4) Fixed by 23.0.5. Pigeon 2 Self Test uses Pigeon IMU (Pigeon 1) template. When performing a self-test snapshot on a Pigeon 2, the reported self test follows Pigeon IMU’s format. This causes the reported self-test to indicate that the Pigeon 2 is in BootTareGyroAccel calibration mode when it is not. Users can ignore the Pigeon State, Last CAL mode, Last CAL err, and temperature compensation values. Discovered by Team 4201
• (Phoenix-Libs: 23.0.4) Fixed by 23.0.5. First firmware flash fails on older products. Doing a field-upgrade on older products will cause it to fail the first time, leaving the device in bootloader. A subsequent field-upgrade will successfully flash the device. The current workaround is to flash older devices twice. Discovered by Team 2075
• (Tuner X: 2023.1.1.0) Fixed by 2023.1.3.0. Device History page may crash under certain circumstances. Under a specific circumstance, the Device History page may crash on selection. This has been root-caused and will be addressed in the next release. A potential workaround is to delete either the CachedCANDevices.json or CachedCANivores.json file under the application cache directory. Discovered by Internal Testing

2023/01/12

Added 2023/01/12

• (Phoenix-Pro: 23.0.2) Add basic latency compensation helper method to simplify the use of latency compensation.
• (Talon FX (Pro): 23.5.0.0) Added a continuous wrap closed-loop mode for mechanisms that continuously wrap around themselves. This is useful for mechanisms such as swerve, as it allows the device to find the shortest path to reach the target within 1 rotation.

Fixed 2023/01/12

• (Phoenix Diagnostic Server: 2023.0.1) Fixes issue reported in 2023.0.0. Control tab works with temporary diagnostic server.
• (Phoenix Installer: 5.30.3.0) Phoenix Pro device Simulation Headers are now included for offline install.
• (Phoenix-5: 5.30.3) Fixes issue reported in 5.30.2. CANdle setLED call works as expected.
• (Phoenix-Pro: 23.0.2) Removed Units headers from the WPI header export. Users using units will now only use the WPI-included headers.
• (Talon FX (Pro): 23.5.0.0) Fixes issue reported in 23.4.0.3. Set Position on Limit works.
• (Talon FX (Pro): 23.5.0.0) Fixes issue reported in 23.4.0.3. Fixed motion magic discontinuity near end of trajectory.
• (Tuner X: 2023.1.1.0) Fixes issue reported in 2023.1.0.0. User accounts with spaces in the name will interact with CANivore as expected.
• (Tuner v1: 1.9.3.0) Fixes issue reported in 1.9.2.1. Tuner v1 interacting with CANivores no longer prevent them from being licensed in Tuner X.

Known Issues 2023/01/12

• (Phoenix Diagnostic Server: 2023.0.1) Fixed by 23.0.4. caniv calls on windows don’t work with setname or update firmware. When using caniv on windows, setting the name or updating firmware does not work. Discovered by Internal Testing
• (Phoenix-Pro: 23.0.2) Fixed by 23.0.3. Java setters always set with a 0 value. Using a setter in java, such as setPosition or setYaw, will always apply a value of 0. Discovered by Teams 4414 and 973
• (Talon FX (Pro): 23.5.0.0) Fixed by 23.6.0.2. Motion Magic does not adhere to the Continuous Wrap config. If the Talon FX is using a Motion Magic config, it will not use the Continuous Wrap config. Users that want to use the Continuous Wrap config should instead use Position Closed Loop. Discovered by Internal Testing

2023/01/06

Added 2023/01/06

• (CANcoder (Pro): 23.1.1.3) Cut for 2023 season.
• (Phoenix-Pro: 23.0.1) Add additional configs for new Talon FX features.
• (Talon FX (Pro): 23.4.0.3) Add additional configs.
• (Tuner X: 2023.1.0.0) Added a Copy to Clipboard button to the Self Test page.
• (Tuner X: 2023.1.0.0) Added support for selecting the firmware version in the Batch Upgrade page.
• (Tuner X: 2023.1.0.0) Added a button in the Settings page to manually download the latest firmware files.

Fixed 2023/01/06

• (Phoenix-Pro: 23.0.1) Fixes issue reported in 23.0.0-beta-7. Improved robustness of Talon FX Self Test.
• (Tuner X: 2023.1.0.0) The Configs page correctly handles inputting negative numbers and exponential notation.
• (Tuner X: 2023.1.0.0) Improved the error message when attempting to apply configs before an initial refresh.
• (Tuner X: 2023.1.0.0) Fixed the behavior of the device view page launched from the arrow button on the device list page.
• (Tuner X: 2023.1.0.0) Expanded the height of the control parameter scroll view to the height of the window.
• (Tuner X: 2023.1.0.0) Field upgrading a device in the device view page correctly updates the available controls on the Control page.
• (Tuner X: 2023.1.0.0) Fixed an issue where the CANivore ESP32 Enable and CAN Bus Termination switches would occasionally fail to apply.
• (Tuner X: 2023.1.0.0) Improved the robustness of automatically downloading the latest online firmware files.
• (Tuner X: 2023.1.0.0) Fixed an issue where the CRF dropdown may occasionally contain duplicate firmware versions.

Known Issues 2023/01/06

• (Phoenix Diagnostic Server: 2023.0.0) Fixed by 2023.0.1. Control tab does not work with Temporary Diagnostic server. The control tab in Phoenix Tuner does not function as expected while connected to a temporary diagnostic server. This can be worked around by deploying an application that uses Phoenix. Discovered by Internal Testing
• (Phoenix-5: 5.30.2) Fixed by 5.30.3. CANdle setLED call is not always applied. When using the setLED method in CANdle, the call is not always applied. This does not affect animations, only the setLED call. This will be fixed in a future API update. Discovered by Team 4152
• (Phoenix-Pro: 23.0.1) Fixed by 24.0.0-beta-4. C++ Static-initialization of a TalonFX object results in lock-up. If a TalonFX object is statically initialized before WPILib’s resources are initialized, the application will lock up. To workaround, initialize the TalonFX object inside the robot header file. Discovered by Internal Testing
• (Talon FX (Pro): 23.4.0.3) Fixed by 23.5.0.0. Set Position on Limit does not work. The Configurations for auto-setting position on limit forward/reverse has no effect when using the kickoff firmware. This does not affect disabling the motor when limit forward/reverse is tripped. Discovered by Internal Testing
• (Talon FX (Pro): 23.4.0.3) Fixed by 23.5.0.0. Motion Magic target position discontinuity near end of trajectory (set position jumps) if jerk value is low. When performing a Motion Magic across a longer period with a low jerk value, the device will jump to the final position instead of smoothly transition to it. This does not occur with larger jerk values or with a jerk value of 0 (disabled). This is due to the target velocity curve reaching zero slightly too early. Discovered by Internal Testing
• (Talon FX (Pro): 23.4.0.3) Fixed by 25.0.0.0. Supply Current Limiting’s accuracy is not within expectations. There is roughly a 600mA difference between what the Device attempts to limit to and what it does limit to. Discovered by Internal Testing
• (Talon FX (Pro): 23.4.0.3) Fixed by 23.20.6.2. Talon FX Pro Firmware does not support PWM input. Driving a Talon FX running Phoenix Pro firmware with an PWM input does not work. Users must use CAN to control a Phoenix Pro Talon FX. Users that want to use PWM must use Phoenix 5 firmware. Discovered by Internal Testing
• (Tuner X: 2023.1.0.0) Fixed by 2023.2.0.0. The Plot page is not supported for Phoenix Pro devices. Tuner X currently only supports plotting for Phoenix v5 devices. A future release will provide plotting for Phoenix Pro devices. Discovered by Internal Testing
• (Tuner X: 2023.1.0.0) Fixed by 2023.1.1.0. Windows account names with spaces cannot interact with CANivore when connected via localhost. Phoenix Tuner/Diagnostics is not able to properly interface with the CANivore while a space exists in the windows account name. This will be fixed in a future Phoenix release. Discovered by Team 254
• (Tuner v1: 1.9.2.1) Self test does not work for Phoenix 6 devices on Tuner v1. Performing a self-test snapshot on a Phoenix Pro device results in the message “Self-Test on Phoenix PRO devices require using Tuner X.”. Use Tuner X for self-testing Phoenix Pro devices. Discovered by Internal Testing
• (Tuner v1: 1.9.2.1) Fixed by 1.9.3.0. Tuner v1 interacting with CANivores will prevent them from being licensed in Tuner X. If a user interacts with a CANivore in Tuner v1, they will deploy a caniv binary that is too old and doesn’t support licensing. Discovered by Team 6036

2022/12/20

Added 2022/12/20

• (Tuner X: 2023.0.2.0) Updated the device card colors to be more easily distinguishable. Check out the Phoenix Pro documentation for more information.
• (Tuner X: 2023.0.2.0) Improved the layout of the buttons on the Config page.
• (Tuner X: 2023.0.2.0) Added support for licensing devices while disconnected from a robot.

Fixed 2022/12/20

• (Phoenix-Pro: 23.0.0-beta-7) Fixes issue reported in 23.0.0-beta-5. In Phoenix Pro TalonFX simulation, following now works.
• (Phoenix-Pro: 23.0.0-beta-7) Fixes issue reported in 23.0.0-beta-5. In Phoenix Pro Java, Pigeon 2 simulated supply voltage now shows the correct value in the WPILib simulation GUI.
• (Tuner X: 2023.0.2.0) Fixes issue reported in 2023.0.1.0. The Device list is no longer blank when not connected to internet.
• (Tuner X: 2023.0.2.0) Fixed UI unresponsiveness when canceling a batch upgrade command.
• (Tuner X: 2023.0.2.0) Fixed deploying the temporary diagnostic server to the roboRIO.
• (Tuner X: 2023.0.2.0) Fixed an issue where the Self Test page shows a black screen after a refresh.

Known Issues 2022/12/20

• (Phoenix-Pro: 23.0.0-beta-7) Fixed by 23.0.1. Talon FX Self Test could occasionally fail. Occasionally when performing a self-test on a Talon FX, the self test will report a failure with “InvalidSignal”. Discovered by Internal Testing
• (Tuner X: 2023.0.2.0) Fixed by 2023.1.3.0. XInput Joystick input causes focus to change. Due to a limitation in Windows, XInput devices such as joysticks may cause the GUI’s focus to change when moving the joystick. This can be an issue for self test snapshot and configs page, since the focus will prevent the user from clicking the buttons. Discovered by Internal Testing

2022/12/09

Added 2022/12/09

• (ProFirmware: 23.1.0.6) Improved the latency of CANivore Timesync frames.
• (Talon FX (Pro): 23.3.0.6) Added additional FOC and closed-loop control requests.
• (Talon FX (Pro): 23.3.0.6) Reduced CAN bus utilization on CAN FD networks.

Fixed 2022/12/09

• (Phoenix-Pro: 23.0.0-beta-6) Improved the accuracy of the System timestamp source.

2022/12/03

Added 2022/12/03

• (Phoenix-Pro: 23.0.0-beta-5) Control Requests have default parameters where it makes sense.
• (Phoenix-Pro: 23.0.0-beta-5) Added with* methods to Control requests to modify the data through method-chaining.
• (Phoenix-Pro: 23.0.0-beta-5) Added Phoenix Pro Device Simulation Support.
• (Phoenix-Pro: 23.0.0-beta-5) Added TalonFX Duty Cycle FOC control.
• (ProFirmware: 23.1.0.0) Devices and CANivore support CAN bus licensing.
• (Tuner X: 2023.0.1.0) Added support for licensing CANivores.

Fixed 2022/12/03

• (Phoenix-5: 5.30.1-beta-5) Fixes issue reported in 23.0.0-beta-2. HasResetOccurred works correctly in Phoenix 5.
• (Phoenix-Pro: 23.0.0-beta-5) Fixed CANcoder name casing to be consistent with the product page.
• (Phoenix-Pro: 23.0.0-beta-5) Fixes issue reported in 23.0.0-beta-1. Phoenix Pro Talon FX reports the correct applied duty cycle.
• (Phoenix-Pro: 23.0.0-beta-5) Fixes issue reported in 23.0.0-beta-2. StatusSignalValues will not report errors if constructed very early.
• (Phoenix-Pro: 23.0.0-beta-5) C++ StatusSignalValue is now only templated over unit type.
• (Phoenix-Pro: 23.0.0-beta-5) Device constructors no longer require a CAN bus parameter.
• (Phoenix-Pro: 23.0.0-beta-5) Fixes issue reported in 23.0.0-beta-1. CANcoder Sensor Direction config is correct.
• (Phoenix-Pro: 23.0.0-beta-5) Fixes issue reported in 23.0.0-beta-1. CANivore’s can framing no longer disables on Windows after a long period of time.
• (ProFirmware: 23.1.0.0) Fixes issue reported in 23.0.0. Devices no longer report CouldNotRetrieveFirmware if they are only unlicensed.
• (Tuner X: 2023.0.1.0) Fixes issue reported in 2023.0.0.0. CANivore page no longer requires roboRIO Image v1.4.
• (Tuner X: 2023.0.1.0) Fixes issue reported in 2023.0.0.0. Tuner X can now flash CANivores on remote systems.
• (Tuner X: 2023.0.1.0) Fixes issue reported in 2023.0.0.0. Account login no longer fails when items are left in your cart.
• (Tuner X: 2023.0.1.0) Tuner X now correctly handles user login timeout.

Known Issues 2022/12/03

• (Phoenix-Pro: 23.0.0-beta-5) Fixed by 24.2.0. In Phoenix Pro TalonFX simulation, FOC control does not work. Phoenix Pro TalonFX simulation does not currently support the FOC control modes. Discovered by Internal Testing
• (Phoenix-Pro: 23.0.0-beta-5) Fixed by 23.0.11. In Phoenix Pro TalonFX simulation, Supply, Stator, and Torque current are not supported. Phoenix Pro TalonFX simulation does not currently support simulating the electrical currents. Discovered by Internal Testing
• (Phoenix-Pro: 23.0.0-beta-5) Fixed by 23.0.0-beta-7. In Phoenix Pro TalonFX simulation, following does not work. Phoenix Pro simulated TalonFX devices currently do not follow other TalonFX devices correctly. Discovered by Internal Testing
• (Phoenix-Pro: 23.0.0-beta-5) Fixed by 23.0.0-beta-7. In Phoenix Pro Java, Pigeon 2 simulated supply voltage does not show the correct value in the WPILib simulation GUI. The WPILib simulation GUI shows a different simulated supply voltage for Pigeon 2 than robot code in Java. The regular simulation API is unaffected. Discovered by Internal Testing
• (Tuner X: 2023.0.1.0) Fixed by 2023.0.2.0. The device list is blank when not connected to internet. Due to a bug in the Windows Networking API, the device list is blank when not connected to the internet. Discovered by Team 7028 (Beta Testers)

2022/11/23

Added 2022/11/23

• (Phoenix-5: 5.30.1-beta-4) Added support for hardware simulation vs simulation selection in VScode.
• (Phoenix-Libs: 23.0.0-beta-2) Added support for hardware simulation vs simulation selection in VScode.
• (Phoenix-Libs: 23.0.0-beta-2) Added OSX-Universal build option for M1-based Mac builds.
• (Tuner X: 2023.0.0.0) Added support for online updating to Pro and v5 firmware.
• (Tuner X: 2023.0.0.0) Clicking on the “Pro” column in batch upgrade toggles the Pro/v5 switch for all devices.

Fixed 2022/11/23

• (Tuner X: 2023.0.0.0) Improved the behavior of selecting devices for batch upgrade.

Known Issues 2022/11/23

• (Phoenix-Libs: 23.0.0-beta-2) Fixed by 5.30.1-beta-5. Phoenix 5 devices always report true with hasResetOccurred. When using simulated or real devices with Phoenix 5, the devices will always report that they have reset. Discovered by Team 3630 (Beta Testers)
• (Phoenix-Libs: 23.0.0-beta-2) Fixed by 23.0.0-beta-5. StatusSignalValues constructed immediately on Robot Creation report DriverStation Errors. If a StatusSignalValue is constructed too quickly, such as through static-initialization, it will report CAN Frame not received/too-stale. Discovered by Internal Testing
• (Tuner X: 2023.0.0.0) Fixed by 2023.0.1.0. CANivore page requires RoboRIO Image v1.4. The CANivore page requires roboRIO image v1.4 to see CANivores. The device page and Windows local server is unaffected by this. Discovered by Internal Testing
• (Tuner X: 2023.0.0.0) Fixed by 2023.0.1.0. Cannot flash CANivore on remote system. Tuner X cannot flash CANivores on a remote system. The workaround is to use Tuner v1, or to connect the CANivore to the Windows computer for the firmware flashing. Discovered by Internal Testing
• (Tuner X: 2023.0.0.0) Fixed by 2023.0.1.0. Account Login fails if your user account has items left in cart. If there are items left in the cart for an account that is being logged into for device activation, the login fails. To workaround, log into your account through a web browser and remove the items from your cart. Discovered by Internal Testing

2022/11/17

Added 2022/11/17

• (Phoenix-Libs: 23.0.0-beta-1) Per community input, added standard unit library to C++ API.
• (Phoenix-Libs: 23.0.0-beta-1) Added position and yaw setter methods to the hardware classes.
• (Phoenix-Libs: 23.0.0-beta-1) Replaced the Configurator timeout field with a default timeout field and optional timeout parameters.
• (Phoenix-Libs: 23.0.0-beta-1) Added optional timeout parameters to the Configurator API.

Fixed 2022/11/17

• (Phoenix-5: 5.30.1-beta-3) Fixed devices never enabling in simulation.
• (Phoenix-Libs: 23.0.0-beta-1) Fixed TalonFX GetAppliedControlRequest() reporting an empty control in C++.
• (Phoenix-Libs: 23.0.0-beta-1) Moved the Phoenix Pro C++ API into the ctre::phoenixpro namespace.
• (Phoenix-Libs: 23.0.0-beta-1) Simplified the names of the ControlRequest objects.
• (Phoenix-Libs: 23.0.0-beta-1) Renamed C++ StatusSignalValue::GetTimestamps to GetAllTimestamps.

Known Issues 2022/11/17

• (Phoenix-Libs: 23.0.0-beta-1) Fixed by 25.0.0-beta-1. The C++ Configs API does not use the standard units library. Currently, the C++ Configuration API does not use the standard units library. Users must manually convert data to the documented unit types. Discovered by Internal Testing
• (Phoenix-Libs: 23.0.0-beta-1) Fixed by 23.0.0-beta-5. CANcoder Sensor Direction config is flipped. When viewing the rotation of the magnet from the LED side of the board, the direction is flipped from the config name. Discovered by Internal Testing
• (Phoenix-Libs: 23.0.0-beta-1) Fixed by 23.0.0-beta-5. CANivore’s CAN framing may disable on Windows after a long period of time. If running hardware-attached simulation on windows for an extended period of time while Tuner X is connected, the CANivore’s frame reporting may disable. This can be worked around by any of the following: Setting the CANivore name, power-cycling the CANivore, or USB re-enumerating the CANivore. Discovered by Internal Testing
• (Phoenix-Libs: 23.0.0-beta-1) Fixed by 23.0.0-beta-5. Self Test snapshot reports nan or 0 for applied duty cycle. When performing a self-test snapshot with a TalonFX that is driving, the reported applied duty cycle is always 0 or -nan. Discovered by Internal Testing

2022/11/04

Added 2022/11/04

• (Phoenix-Libs: 23.0.0-alpha-3) Made ECU config functions thread-safe.
• (ProFirmware: 23.0.0) Beeps during boot up.
• (ProFirmware: 23.0.0) Added full brake control request.
• (Tuner X: 2022.7.0.0) Firmwares come pre-packaged with Tuner X.
• (Tuner X: 2022.7.0.0) Tuner X indicates if you are out-of-date.
• (Tuner X: 2022.7.0.0) Batch field-upgrade and offline field-upgrade is easier to use.
• (Tuner X: 2022.7.0.0) Added a blink button to the grid view.
• (Tuner X: 2022.7.0.0) If the provided SSH credentials are incorrect, Tuner X will now prompt user for credentials.
• (Tuner X: 2022.7.0.0) Improved the Profile page and login experience.
• (Tuner X: 2022.7.0.0) Added a dropdown for common diagnostic server IPs.
• (Tuner X: 2022.7.0.0) Tuner X can get the robot IP from the Driver Station.
• (Tuner X: 2022.7.0.0) Tuner X now requests for additional permissions to use localhost.
• (Tuner X: 2022.7.0.0) Improved UI for several pages on mobile devices.
• (Tuner X: 2022.7.0.0) Added a Busy animation and a few hover effects.

Fixed 2022/11/04

• (Phoenix-Libs: 23.0.0-alpha-3) Added StatusCode reporting to the driverstation/console output.
• (Phoenix-Libs: 23.0.0-alpha-3) Fixes issue reported in 22.0.0. Diagnostic control will override local API control.
• (ProFirmware: 23.0.0) Improvements in startup frame.
• (ProFirmware: 23.0.0) Slot0 and Slot1 setting is honored in closed-loop modes.
• (ProFirmware: 23.0.0) Better FOC/Torque control under no-load conditions.
• (ProFirmware: 23.0.0) Bridge and system state are reported in self-test.
• (ProFirmware: 23.0.0) No longer requires no-motion during bootup, and other various improvements to startup.
• (ProFirmware: 23.0.0) Adjustments to stall whistle.
• (ProFirmware: 23.0.0) MaxDutyCycle parameter in TorqueCurrentFOCRequest limits the maximum output that can be applied.
• (ProFirmware: 23.0.0) CANbus improvements: Test plan passed with increased range: from 75 ft to 100 ft.
• (Talon FX (Pro): 23.0.0) Fixed issue where Talon FX only enables briefly after enabling robot.
• (Talon FX (Pro): 23.0.0) Self Test now reports FRC-Lock.
• (Tuner X: 2022.7.0.0) Fixes issue reported in 2022.4.0.0. Fixed online CANivore firmware upgrade on Windows.
• (Tuner X: 2022.7.0.0) Fixed diagnostic server information not updating when switching between servers.
• (Tuner v1: 1.9.0.0) Fixes issue reported in 1.9.0.0. Tuner v1 allows control of Talon SRXs and Victor SPXs.

Known Issues 2022/11/04

• (ProFirmware: 23.0.0) Fixed by 23.1.0.0. Phoenix Pro devices report both unlicensed and cannot get firmware version if they are unlicensed. Phoenix Pro devices will report that they are both unlicensed and that the API could not retrieve firmware version, even if they are the latest version. Discovered by Internal Testing

2022/10/14

Added 2022/10/14

• (Phoenix-Libs: 22.4.1) General improvements to licensing support.
• (Phoenix-Libs: 22.4.1) Self Test includes Phoenix Version at bottom.
• (Phoenix-Libs: 22.4.1) Diagnostic server reports if device is running Phoenix Pro firmware or Phoenix 5 firmware.
• (ProFirmware: 22.99.22.2) LEDs will indicate if devices are not licensed.
• (ProFirmware: 22.99.22.2) Devices will report they are Phoenix Pro firmware.
• (Tuner X: 22.6.0.0) License icon will not appear if device does not support licensing.
• (Tuner X: 22.6.0.0) Added seat activation support.
• (Tuner X: 22.6.0.0) Added blink button to devices in the devices page.
• (Tuner X: 22.6.0.0) Sorting button has more appropriate contents.
• (Tuner X: 22.6.0.0) Configs have been reworked to be more useful.
• (Tuner X: 22.6.0.0) Performance improvements.
• (Tuner v1: 1.9.0.0) Rebranded Phoenix Tuner to Tuner v1.

Fixed 2022/10/14

• (Phoenix-Libs: 22.4.1) Fixes issue reported in 22.0.0. Moved C++ GetAppliedControlRequest into the public space.
• (Phoenix-Libs: 22.4.1) Fixes issue reported in 22.0.0. Pigeon2 running Phoenix 5 firmware now displays configs from diagnostic server.
• (Phoenix-Libs: 22.4.1) Fixes issue reported in 22.0.0. CANcoder vH configs will show up in Tuner.
• (Phoenix-Libs: 22.4.1) Fixes issue reported in 22.3.0. C++ AsSupplier is correctly capitalized.
• (Phoenix-Libs: 22.4.1) Fixes issue reported in 22.1.0. Invert state is copied in the text when using “Share to Support”.
• (Talon FX (Pro): 22.99.22.4) Fixes issue reported in 22.99.11.0. Slot 0 Peak output used only for position and Slot 1 Peak Output used only for Velocity.
• (Talon FX (Pro): 22.99.22.4) Fixes issue reported in 22.99.11.0. Tuner can use new control interface with TalonFX.
• (Tuner X: 22.6.0.0) Renamed Datasheet to Users Guide.
• (Tuner X: 22.6.0.0) Fixes issue reported in 2022.0.0.0. Setting an ID to an available ID that’s a duplicate of another model’s ID no longer warns about a duplicate IDs.
• (Tuner X: 22.6.0.0) IP Field size increased to fit all IP addresses.
• (Tuner X: 22.6.0.0) Duplicate Tuner no longer crash.
• (Tuner X: 22.6.0.0) Controls tab pre-populates with controls.
• (Tuner X: 22.6.0.0) Fixes issue reported in 2022.0.0.0. Phoenix 5 motor controller control slider is scaled properly to -1.0 to +1.0.
• (Tuner X: 22.6.0.0) Fixes issue reported in 2022.4.0.0. Improvements that should avoid the Licensing/Pro Icon from turning Red erroneously.
• (Tuner X: 22.6.0.0) Fixes issue reported in 2022.4.0.0. CANcoder vHs have a proper image.
• (Tuner X: 22.6.0.0) Fixes issue reported in 2022.4.0.0. Corrupt device cache no longer crashes Tuner.
• (Tuner X: 22.6.0.0) Fixes issue reported in 2022.0.0.0. Self test location is saved, so when another self-test happens user is brought down to where they were.

Known Issues 2022/10/14

• (Tuner v1: 1.9.0.0) Fixed by 1.9.0.0. Talon SRX and Victor SPX cannot be controlled in Tuner v1. When using Tuner v1 to control a Talon SRX or Victor SPX, the control page will report that the firmware is too old. Discovered by Team 1018 (Beta Testers)

2022/09/24

Added 2022/09/24

• (CANcoder (Pro): 22.99.21.5) Added magnet offset config.
• (CANcoder (Pro): 22.99.21.5) Implemented full LED chart, including dimming when CAN is disconnected.
• (CANcoder (Pro): 22.99.21.5) Implemented Kalman-based filter for velocity.
• (Phoenix-Libs: 22.4.0) Supports new CANcoder and Talon FX firmware.
• (Talon FX (Pro): 22.99.21.0) Implemented Kalman-based filter for velocity.

Fixed 2022/09/24

• (CANcoder (Pro): 22.99.21.5) Fixes issue reported in 22.99.20.0. Fixed Voltage Measurement being wrong.

Known Issues 2022/09/24

• (CANcoder (Pro): 22.99.21.5) Velocity filter is not configurable. Velocity filter does not have a config to choose between latency and filtered output. CTRE has found configurable velocity filters to be less relevant, as the Kalman filtering produces reasonably smooth velocities while minimizing latency. Default setting is currently lowest latency. Discovered by Internal Testing
• (Talon FX (Pro): 22.99.21.0) Fixed by 25.0.0-beta-1. Velocity filter is not configurable. Velocity filter does not have a config to choose between latency and filtered output. CTRE has found configurable velocity filters to be less relevant, as the Kalman filtering produces reasonably smooth velocities while minimizing latency. Default setting is currently lowest latency. Discovered by Internal Testing

2022/09/09

Added 2022/09/09

• (Phoenix-Libs: 22.3.0) Added Position and Yaw Setters.
• (Phoenix-Libs: 22.3.0) Added Status Signal frequency setters.
• (Phoenix-Libs: 22.3.0) Added asSupplier method to StatusSignalValues. This allows easier use of the language-features for type suppliers.
• (Phoenix-Libs: 22.3.0) Added external APIs for Phoenix 5.

Fixed 2022/09/09

• (Phoenix-Libs: 22.3.0) Fixes issue reported in 22.0.0. Added explicit ToString for C++ StatusSignalValues.

Known Issues 2022/09/09

• (Phoenix-Libs: 22.3.0) Fixed by 22.4.1. C++ AsSupplier is incorrectly capitalized. C++ AsSupplier follows Java-convention camelCase instead of C++ convention CapitalCase. Discovered by Internal Testing

2022/08/25

Added 2022/08/25

• (CANcoder (Pro): 22.99.20.0) Added timesync support.
• (Phoenix-Libs: 22.2.0) Added new type of Signal that switches on some other signal.
• (Phoenix-Libs: 22.2.0) Added Pigeon2 Support.
• (Pigeon2 (Pro): 22.99.20.0) Brought Pigeon2 up to date with Phoenix Pro.
• (Pigeon2 (Pro): 22.99.20.0) Added timesync support.
• (Talon FX (Pro): 22.99.20.0) Added time sync for Position/Velocity frames.
• (Tuner X: 2022.4.0.0) Tuner now caches devices and will pull their licenses next time it’s connected to the internet.

Fixed 2022/08/25

• (Talon FX (Pro): 22.99.20.0) Fixes issue reported in 22.99.13.3. Added overvoltage protection.

Known Issues 2022/08/25

• (CANcoder (Pro): 22.99.20.0) Fixed by 22.99.21.5. Voltage measurement is wrong. The voltage measurement for all CANcoders is wrong. Discovered by Internal Testing
• (Phoenix-Libs: 22.2.0) Fixed by 23.0.10. If any frame times out during WaitForAll, all frames return StatusCode RxTimeout. During a WaitForAll command, if any frame times out, all frames have the “RxTimeout” StatusCode. Discovered by Internal Testing
• (Pigeon2 (Pro): 22.99.20.0) Fixed by 23.1.2.1. Certain CAN FD configurations with Pigeon2 can cause red blips. Certain configurations of Pigeon2 manufactured after September 2022 on a CAN FD bus may cause red blips. Discovered by Customer Email
• (Pigeon2 (Pro): 22.99.20.0) Fixed by 23.1.2.1. LEDs do not solid-orange on boot. LEDs should both solid-orange for a second when the Pigeon2 boots, to match the behavior of Phoenix 5. Discovered by Internal Testing
• (Tuner X: 2022.4.0.0) Fixed by 22.6.0.0. Tuner does not support CANCoder vH Icons. This version of Tuner does not have icons for CANCoder vH. This is purely cosmetic, as the functionality of CANCoder vH devices are not affected. Discovered by Internal Testing
• (Tuner X: 2022.4.0.0) Fixed by 22.6.0.0. Pro icon turns red erroneously. Sometimes while Tuner is connected to devices, the PRO icon will turn red indicating a failure in communication. This does not mean the device is no longer licensed. Discovered by Internal Testing
• (Tuner X: 2022.4.0.0) Fixed by 2022.7.0.0. Online CANivore flashing sometimes fails. Sometimes when performing a CANivore firmware flash using an online file, the flash fails with error “Specified CRF file could not be found.” The workaround is to use the offline file dialog and manually select the crf you wish to update to. This is not an issue for Windows 11. Discovered by Team 971 (Alpha Testers)
• (Tuner X: 2022.4.0.0) Fixed by 22.6.0.0. If the device cache file is corrupted, Tuner will crash. If the cache file that’s used to store old devices becomes corrupted, Tuner will crash. This can be worked around by manually deleting the “CachedDevices.json” file in the app’s cache directory. Discovered by Internal Testing

2022/08/12

Added 2022/08/12

• (Phoenix-Libs: 22.1.1) Improvements to licensing.
• (Talon FX (Pro): 22.99.13.7) Improved the robustness of licensing and other diagnostic commands.
• (Talon FX (Pro): 22.99.13.7) Added ability to clear licenses.
• (Tuner X: 2022.3.2.0) Fixes issue reported in 2022.0.0.0. Added ability to provide SSH username and password for non-rio linux targets.
• (Tuner X: 2022.3.2.0) Added more icons to differentiate whether a device is licensed or not.
• (Tuner X: 2022.3.2.0) Added deploy temporary server to RoboRIO functionality.

Known Issues 2022/08/12

• (Tuner X: 2022.3.2.0) Fixed by 2024.1.1.0. Tuner cannot deploy temporary diagnostic server to non-rio Linux targets. This version of Tuner doesn’t have support for deploying the temporary diagnostic server to a non-RIO linux device. Discovered by Internal Testing

2022/08/09

Added 2022/08/09

• (Phoenix-Libs: 22.1.0) Necessary additions for TalonFX Invert and Follower Mode.
• (Talon FX (Pro): 22.99.13.3) Fixes issue reported in 22.99.11.0. Added Follower Mode for other TalonFX’s.
• (Talon FX (Pro): 22.99.13.3) Fixes issue reported in 22.99.11.0. Added Invert modes and follower Invert modes.

Known Issues 2022/08/09

• (Phoenix-Libs: 22.1.0) Fixed by 22.4.1. Self test invert does not appear in text when using “Share to Support”. When performing a self-test snapshot, the invert state does not appear in the text that gets copied to the email when using the “Share to Support” button. Discovered by Internal Testing
• (Talon FX (Pro): 22.99.13.3) Fixed by 22.99.20.0. TalonFX Has no overvoltage protection. This version of TalonFX does not have overvoltage protection. Care must be taken to not allow the Talon to be driven without a battery in circuit. Discovered by Internal Testing

2022/08/02

Added 2022/08/02

• (Phoenix-Libs: 22.0.0) Initial Release of Phoenix Pro.
• (Talon FX (Pro): 22.99.11.0) Initial Release of TalonFX Firmware.
• (Tuner X: 2022.0.0.0) Initial Release of Phoenix Tuner.

Known Issues 2022/08/02

• (Phoenix-Libs: 22.0.0) Fixed by 22.3.0. StatusSignalValue has no ToString() method in C++. The StatusSignalValue class has no method of getting an std::string representation, although it has the ostream « operator overload for a string representation. Discovered by Internal Testing
• (Phoenix-Libs: 22.0.0) Fixed by 22.4.1. C++ GetAppliedControlRequest did not work. C++ GetAppliedControlRequest was protected, and inaccessible. Discovered by Internal Testing
• (Phoenix-Libs: 22.0.0) Fixed by 22.4.1. Pigeon2 running Phoenix 5 firmware did not have diagnostic config support. Tuner could not see or change the configs of a Pigeon2 running Phoenix 5 firmware. Discovered by Internal Testing
• (Phoenix-Libs: 22.0.0) Fixed by 22.4.1. CANcoder vHs did not have configs when communicating over diagnostic server. When selecting a CANcoder vH, diagnostic server did not display the configs in Tuner. Discovered by Internal Testing
• (Phoenix-Libs: 22.0.0) Fixed by 23.0.0-alpha-3. Diagnostic control is same priority as API control. Devices do not prioritize diagnostic control over API control. This causes an issue when both are sent, where the device will oscillate between both controls. Discovered by Team 971 (Alpha Testers)
• (Talon FX (Pro): 22.99.11.0) Fixed by 22.99.13.3. TalonFX has no follower mode. Talon FX has no follower mode in this version of firmware. Discovered by Internal Testing
• (Talon FX (Pro): 22.99.11.0) Fixed by 22.99.13.3. TalonFX has no invert. Talon FX has no invert setting in this version of firmware. Discovered by Internal Testing
• (Talon FX (Pro): 22.99.11.0) Fixed by 22.99.22.4. Velocity closed loop uses slot0 instead of slot1. Position closed loop currently uses slot0 and velocity closed loop currently uses slot1 (future release will support slot selection). However, recent firmware files erroneously use slot0 for peak output when using closed loop velocity. Discovered by OEM Customer
• (Talon FX (Pro): 22.99.11.0) Fixed by 22.99.22.4. Tuner may not use new controls with Pro firmware. There is a firmware issue that may result in Tuner not providing the new control methods to the user when controlling a TalonFX. This only occurs for newer versions of Tuner. This does not affect API. Discovered by Team 3538 (Alpha Testers)
• (Tuner X: 2022.0.0.0) Fixed by 2022.3.2.0. Tuner cannot connect to non-rio linux devices. Tuner does not have the means to connect to any device with a username/password combo other than admin/. This means Tuner can effectively only connect to the RoboRIO. Discovered by Internal Testing
• (Tuner X: 2022.0.0.0) Fixed by 22.6.0.0. Setting an ID to an available ID sometimes erroneously warns about a duplicate ID. When the user sets an ID of a device to the same ID as another device of a different model, Tuner will warn the user about a duplicate ID, even though the ID is valid since the duplicate ID is of a different model. Discovered by Internal Testing
• (Tuner X: 2022.0.0.0) Fixed by 22.6.0.0. Performing a Self-Test Snapshot moves the view back to the top. When a Self-Test Snapshot occurs, the viewpage of the Snapshot moves back to the top of the screen. Discovered by Internal Testing
• (Tuner X: 2022.0.0.0) Fixed by 22.6.0.0. Phoenix 5 motor controllers had incorrectly scaled PercentOutput control sliders. When controlling a Phoenix 5 motor controller in Tuner, the percent output slider was scaled from -1023 to +1023, instead of -1.0 to +1.0. Discovered by Internal Testing