Phoenix Tuner
Configure CTRE devices (TalonFX, CANcoder, Pigeon).
What Is Phoenix Tuner?
Phoenix Tuner is CTRE's tool for configuring and diagnosing their devices. It connects to devices on the CAN bus.
Installation
Download from the CTRE website. Available for Windows, macOS, and Linux.
Features
| Feature | Description |
|---|---|
| Device Discovery | Find all CTRE devices on the CAN bus |
| Firmware Update | Update device firmware to the latest version |
| Self Test | Verify device health and connectivity |
| Tune PID | Tune onboard PID gains in real-time |
| Configure Limits | Set soft/hard forward and reverse limits |
| Signal Logging | Record sensor data for analysis |
Workflow
- Connect to the robot network (USB or WiFi)
- Open Phoenix Tuner
- Select the device on the CAN bus
- Configure parameters (PID, limits, current limits)
- Save to device flash (persists without code)
When to Use Phoenix Tuner
| Task | Use Phoenix Tuner? |
|---|---|
| Set CAN ID | Yes (or use code) |
| Update firmware | Yes |
| Tune onboard PID | Yes (faster than code iteration) |
| Set current limits | Yes |
| Check device health | Yes |
| Configure swerve offsets | Yes (CANCoder) |
Swerve Module Setup
For each swerve module:
- Find the CANcoder in Phoenix Tuner
- Rotate the wheel to a known angle (pointing forward)
- Set the absolute sensor offset to zero
- Save to flash
This ensures all modules start at a known orientation.
Troubleshooting
| Issue | Fix |
|---|---|
| Device not found | Check CAN wiring, verify CAN ID |
| Firmware update fails | Power cycle the device, retry |
| PID tuning not working | Verify motor is connected and enabled |