Warning

The CANdle Phoenix 5 API is deprecated and will be removed in 2027. Additionally, Talon FX, CANcoder, and Pigeon 2 now require Phoenix 6. Users are encouraged to migrate to the Phoenix 6 library for deprecated devices.

# Bring Up: CANifier

## Phoenix Tuner

Using Self-test Snapshot, confirm all sensor inputs required by the robot application.

If using Limit switches, assert each switch one at time. Self-test Snapshot after each transition to confirm wiring.

If using Quadrature or Pulse width sensor, rotate sensor while performing Self-test Snapshot to confirm sensor values.

Tip

There is a modernized version called Tuner X that is available for Windows and Android devices (works with Phoenix 5 and Phoenix 6).

## LED Strip Control

See CANifier user’s guide for wiring and controlling LED Strip.

## CANifier API

Create a CANifier object in your robot application and poll whatever sensor you have connected to it or the bus voltage

    import com.ctre.phoenix.CANifier;
    public class Robot extends TimedRobot {
        CANifier _canifier = new CANifier(0);
        int _loopCount = 0;

        public void teleopPeriodic() {
            if(_loopCount++ > 10)
            {
                _loopCount = 0;
                System.out.println("Bus voltage is: " + _canifier.getBusVoltage());
            }
        }

Confirm output matches Self-test Snapshot results.