# 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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