API Migration#
This section serves as a “cheat sheet” of commonly-used functions in Phoenix 5 and their equivalents in Phoenix 6.
- Configuration
Configuring device configs in robot code
- Status Signals
Using status signals to retrieve sensor data from devices
- Control Requests
Using control requests to control the functionality of actuators, such as the TalonFX
- Closed-Loop Control
Configuring and using closed-loop control requests
- Feature Replacements
Other features replaced or improved upon in Phoenix 6