CTRE Examples

Open WPILib VSCode and select Clone Git Repository

1. Click Clone from GitHub

2. Paste "CrossTheRoadElec/Phoenix6-Examples"

In your VSCode window:

1. Click File

2. Open Folder

3. Navigate to the PID Example that you would like to simulate

Click the WPILib icon in the top right

Simulate Robot Code

Once the code has completed building, select Sim GUI, then okay

This should open a window called Robot Simulation

1. In the top left under Robot State, select Teleoperated

Install Phoenix Tuner X from the Microsoft Store or App Store (Linux users can install by reading their documentation)

Since the simulation is running, you should see some devices

Select One

Select Plot

Select Signals

1. In the search bar, search velocity/position, depending on the type of PID tuning

2. Check velocity/position and reference (under PIDVelocity/PIDMotion)

Click the graph symbol under the wrench

1. Click the plus sign to add a new group

2. Move the signals to the new group

Click Control

1. Select Control Mode (this is the type of PID tuning that you want to practice)

2. Set the parameters

Click the wrench icon

Select Slot 0

1. Before continuing, make sure Slots 1 & 2 are empty

2. Slot 0 is where you input your tuning constants

3. Every time you change a tuning constant, you must click the motor with an arrow icon to update them

Enable the motor and hit play to view the graph