In addition to the changes shown in the other sections, several other Phoenix 5 features have been replaced or improved upon in Phoenix Pro.
In Phoenix Pro, Neutral mode is now available in API as a config (Java, C++). Many control requests also have the ability to override the neutral mode to either force braking (Java, C++) or force coasting (Java, C++).
The Talon FX forward and reverse Nominal Output configs have been removed in Phoenix Pro.
The Talon FX
setSensorPhase() method has been removed in Phoenix Pro.
The Talon FX integrated sensor is always in phase, so the method does nothing in Phoenix 5.
When using a remote sensor, you can invert the remote sensor to bring it in phase with the Talon FX.
Sensor Initialization Strategy#
The Talon FX and CANcoder sensors are always initialized to their absolute position in Phoenix Pro.
Velocity Measurement Period/Window#
In Phoenix Pro, the velocity rolling average window in Talon FX and CANcoder has been replaced with a Kalman filter, resulting in a less noisy velocity signal with a minimal impact on latency. As a result, the velocity measurement period/window configs are no longer necessary in Phoenix Pro and have been removed.
Phoenix Pro automatically prevents integral windup in closed-loop controls. As a result, the Integral Zone config is no longer necessary and has been removed.