FRC Build System

Overview & Features

The Kraken X60 powered by Talon FX is a Kraken X60 motor with an integrated Talon FX controller. This combines the best-in-class performance of the Kraken X60 with the latest technology from Cross The Road Electronics.

At a Glance

  • Integrated brushless motor and controller

  • Built-in high resolution encoder

  • FOC capable (with purchase of Phoenix Pro license)

  • Integrates with CTR software and hardware ecosystem

  • Modular wiring

Under the Hood:

  • Accommodates operating voltage up to 24V.

  • Reverse polarity protection

  • CAN FD Compatible and is supported by CANivore.

  • Trapezoidal commutation

  • DutyCycle and Voltage Control Output Types.

  • Brake configuration via Brake/Coast config in API or Phoenix Tuner X

  • Reset to Factory Default via Phoenix Tuner X

  • Out-of-the-box PWM Calibration compatible with FRC

  • CAN bus or PWM control automatically detected over the same wires (pioneering feature of CTR-Electronics controllers)

  • LED indicators blinking proportionately to output speed for easier debugging.

  • Follower Mode - Talon FX can auto follow output of another

  • Integrated PID control running at 1Khz

  • Independent limits for supply current and stator current

Expert Control

The Talon FX provides access to the full CTR Software Ecosystem.

The Phoenix 6 software package:

  • Best-in-class simulation support.

  • Native standard unit support.

  • Better data management over CAN through utilization of signal timestamps.

  • Better device management with improved tools for optimization of CAN bus utilization.

  • Native wrap-around support for closed loop control

  • Native Kalman based velocity filter.

  • Automatic Signal Logging (position, velocity, supply current, input & motor voltage)

Tuner X:

  • Device updating and configuration from your phone or PC.

  • Self-test and live-data plotting from your devices to aid development and troubleshooting of your robot.

  • Control the motor of an enabled robot with your device.

  • Swerve Generator allows for easy configuration of your motors and sensors (Pigeon 2, 4x CANcoders) then generates your initial swerve code for you.

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