CTRE (Phoenix 6)

Ironclad primarily uses CTRE devices (TalonFX / Kraken, CANcoder) with the Phoenix 6 API. This section shows exact patterns we use in subsystems, including Motion Magic, Position control, remote sensors, multi-motor followers, simulation, and more.

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Pages in this section

• CTRE Basics
• TalonFX Configs (Slot0 & Output)
• Motion Magic (Duty Cycle)
• Position Control (PositionVoltage)
• Soft Limits & Homing
• Followers & Multi-Motor
• CANCoder
• Remote Sensor
• Orchestra
• Simulation (PhysicsSim)
• Troubleshooting