- 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
- 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
- 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
- Diagnostic Servers built before July 19th do not support field-upgrading Pigeon 2 vers. S’s. 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
- Cannot construct a device on a CANivore using the CANivore serial number. Users should instead use the configured CANivore name. Discovered by Internal Testing
- 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
- Java startLog crashes robot program. Calling the startLog method crashes the robot program. Discovered by Internal Testing
- 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
- 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
- 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
- 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
- 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
- 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
- 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
- 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
- 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
- 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
- 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
- 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
- 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 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
- Fused CANcoder 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
- 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
- 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
- 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
- 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
- Self test does not work for Phoenix Pro 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 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
- 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
- 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