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Add a user settable flag on device that resets on boot #111
Description
I'd like a way to determine if a device has been initialized by robot code (homed and zero'd in this case).
Timeline:
- Robot is manually (human) homed
- Robot breaker is turned on
- TalonFX turns on
- Robot code starts
- Robot code zeros TalonFX
- Robot code restarts (redeploy)
- Robot code zeros TalonFX - want to eliminate this
To do this, TalonFX can have a flag (or fault) that
- can be set/cleared by phoenix6
- persists across robot code restarts
- automatically clears when the device is powered off
It would be good to have this on all TalonFX, Cancoder, Pigeon, and Candi devices.
Activity
daltzctr commentedon Sep 19, 2025
This doesn't exactly solve your problem, but you could use the
CustomParamsconfigs for this. There's a few clever strategies I can see using some value entered into CustomParams.ArchdukeTim commentedon May 19, 2026
I've thought about this the past 2 years, and both times the solution was always 'start your motor at 0, and never call
setPositionin code'. Which can sometimes suck, but is definitely safer than overwriting the position on redeploy