Phoenix6-Examples

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

Basic API Examples

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

Usage Examples

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

Simulation Specific Examples

Simulation
- Highlights a 4 TalonFX drivetrain driven in simulation

Application specific examples

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