Namespace CTRE.Phoenix6

Classes

AllTimestamps

A collection of timestamps for a received signal.

BaseStatusSignal

Common parent type for the StatusSignal<T> object.

This can be used for a collection of StatusSignal<T> objects, but we recommend using the derived class instead when possible.

HootAutoReplay

Class for handling automatic logging and replay of custom signal inputs. Each subsystem typically creates a new instance of this class.

Note that all StatusSignals are automatically logged and replayed, so they do not need to be registered with this class. Additionally, the SignalLogger must be separately started at the start of the robot program.

HootReplay

Static class for controlling Phoenix 6 hoot log replay.

Orchestra

Orchestra is used to play music through devices. It uses a "Chirp" (.chrp) music file that can be generated using Phoenix Tuner.Chirp files are generated from standard MIDI files.

Any Chirp file located in the src/main/deploy directory of your FRC project will automatically be copied to the roboRIO on code deploy.

Unless AllowMusicDurDisable is enabled, the robot must be enabled to play music. Additionally, devices playing in Orchestra will not run any other control requests while Orchestra is running. Users can Pause() or Stop() the Orchestra to re-enable device control.

Each device can only play a single track within the music file. For multi-track files, multiple devices are needed. Devices can be added with an explicit track number. Otherwise, the first track will be played through the first Talon FX added, the second track will be played through the second Talon FX added, etc.

To use Orchestra:

• Add TalonFXsto be used as instruments using AddInstrument(CommonDevice)
• Load the Chirp fileto be played using LoadMusic(string)

Both of these can also be done in the Orchestra constructor.

Once ready, the Orchestra can be controlled using Play()/Pause()/Stop(). New music files can be loaded at any time.

SignalLogger

Static class for controlling the Phoenix 6 signal logger.

SpnValueExtensions

StatusCodeExtensions

StatusSignalCollection

Class to manage bulk refreshing device status signals.

StatusSignalExt

Extension methods for a StatusSignal<T>.

StatusSignal<T>

Represents a status signal with data of type T, and operations available to retrieve information about the signal.

Timestamp

Information about the timestamp of a signal.

Utils

Static class holding the methods for interfacing to the Phoenix Utils API

Structs

CANBus

Class for getting information about an available CAN bus.

CANBus.CANBusStatus

Contains status information about a CAN bus.

SignalMeasurement<V>

Information from a single measurement of a status signal

Interfaces

ISerializable

Enums

HootSchemaType

Supported schema types for a hoot user signal.

SpnValue

StatusCode

Status codes reported by APIs, including OK, warnings, and errors.

Timestamp.TimestampSource

Source of the timestamp.