CANCoders Not Working

[ie67]

Hi. We’ve been having problems with our CANCoders not responding from our swerve modules. Does anyone know what the solution would be? I’ve updated the firmware on the CANCoders but it hasn’t fixed the issue.
Phoenix Tuner:

Driverstation:

Code (self.angle_encoder is the CANCoder):

Any help is appreciated. Thanks!

[kingc95]

Edit: see the corrections below

All of your devices need updating to the same version and your vendor libraries installed in your IDE need to be the same version. You have version 22 motor controllers but version 24 encoders and I can’t tell what version of robot code. Get all versions of firmware to the same number (24 is in beta, 23 was last season).

This is all the firmware

https://github.com/CrossTheRoadElec/Phoenix-Releases/blob/master/ctr-device-firmware.zip?raw=true

This is the latest maven repo link in CTRE docs for Phoenix 5 (last years non-pro library which is Version 23)

https://maven.ctr-electronics.com/release/com/ctre/phoenix/Phoenix5-frc2023-latest.json

[gdefender]

@kingc95 is onto something, but not quite correct. Firmware 22.1.1.0 is the latest Phoenix 5 firmware for the motors. The firmware you have on your CANCoders is 24.0.3.1, which is Phoenix 6. This would be obvious if you expand the “Firmware Version” column, since it’s currently cut off at “(Phoe…”.

You didn’t include enough of your code, but I’m guessing you’re only using Phoenix 5 in your code. The Phoenix vendor library and class version has to match the firmware. I recommend updating the motor controllers and your code to Phoenix 6. Alternatively, you could use a mix of 5 and 6, but if you’re starting fresh, I would just use 6.

If you have no idea what I’m talking about, check out the Phoenix 6 Announcement Details from over the summer.

[kingc95]

You are correct, I was going by the version number and looking at the first few devices. Looking specifically at the TalonFX you nailed it. The rest of the firmware info beyond the version number says if it’s pro, Phoenix 6 or what season it’s for. Unless you know of a specific reason you need to be using the beta 2024 (maybe prepping
for it in advance for this season) you should probably use whatever was available at the end of 2023 season until the new version is fully released

[Daltz3]

I just wanted to pop in and say Tuner X makes things a lot easier to keep your devices up-to-date + a few other nice features.

You shouldn’t have to manually touch a firmware file. You just select what year you want to update to and “viola”

[auscompgeek]

In Phoenix Tuner it looks like your CANcoders are on the RIO CAN bus, but in the code you’re saying they’re on a CANivore CAN bus. Did you rewire your robot between these two screenshots?

[ie67]

You’re right about me using Phoenix 5. I didn’t know the latest version of it was 22.1.1.0. Changing it fixed the issue. Thank you!

[ie67]

This worked! Thanks!