Using cancoder with falcon 500

CaptainFirst · February 6, 2024, 2:23pm

Hello, I am using CANCoder for the first time. I want to move the Falcon 500 engine angularly with CANCoder. For example, I want the mechanism to go to 50 degrees and 0 degrees with the button. How can I achieve this? Is there sample code?

DeltaDizzy · February 6, 2024, 2:24pm

Using the Feedback configs you can set the falcon to use a CANcoder as the sensor, after that just set up and use PID like normal.

CaptainFirst · February 6, 2024, 2:31pm

I have my code in my Github repository, can you check it out?

github.com

captnfirst/2024-AGR/blob/main/src/main/java/frc/robot/subsystems/Angle.java

// Copyright (c) FIRST and other WPILib contributors.
// Open Source Software; you can modify and/or share it under the terms of
// the WPILib BSD license file in the root directory of this project.

package frc.robot.subsystems;

import com.ctre.phoenix.motorcontrol.ControlMode;
import com.ctre.phoenix.motorcontrol.NeutralMode;
import com.ctre.phoenix.motorcontrol.StatusFrameEnhanced;
import com.ctre.phoenix.motorcontrol.can.WPI_TalonFX;
import com.ctre.phoenix.sensors.CANCoderConfiguration;
import com.ctre.phoenix.sensors.WPI_CANCoder;

import edu.wpi.first.math.MathUtil;
import edu.wpi.first.wpilibj.shuffleboard.ShuffleboardTab;
import edu.wpi.first.wpilibj2.command.SubsystemBase;
import frc.robot.Constants;

public class Angle extends SubsystemBase {
  /** Creates a new Head. */

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DeltaDizzy · February 6, 2024, 2:42pm

You’re using Phoenix 5 (the old version of the CTRE library), the advice I gave was for Phoenix 6 (the new version this year). 5 will work fine with falcons this year, but next year it and cancoder will only be usable via 6. I haven’t used 5 in a few years so you’ll have to check the WPI-Talonfx’s javadocs for the right configs method to set the feedback sensor.