CTRE Control Modes
A practical guide to closed-loop tuning of Kraken X60 and X44 motors on Phoenix 6, covering voltage and torque-current control for the five most common FRC mechanisms.
The team uses the CTRE ecosystem with Phoenix 6 and Pro-licensed devices. Our default is torque-current (FOC) control. This guide explains why, and how to tune every common mechanism in either mode.
New to closed-loop tuning?
Read Foundations first. Every mechanism page builds on the gain model,
StaticFeedforwardSign, and the tuning workflow described there.
How this guide is organized
Tuning Procedures
Every step-by-step procedure, by mechanism and output family. Start here if you just need to tune something.
Foundations
Output families, gain slots, feedforward first, profiled vs. simple control, and the tuning workflow.
Motion Magic Expo
How the exponential profile comes from the motor model, with an interactive explorer.
Motor Constants
Kraken X60 / X44 specifications and the constants behind every feedforward calculation.
Voltage Control
Flywheel, turret, arm, elevator, and linear deployment tuning in Volts.
Torque-Current Control
The same mechanisms tuned in Amps with TorqueCurrentFOC requests.
Choosing a Control Mode
Voltage or torque-current? Recommendations per mechanism and migration pitfalls.
Warning
Based on the Phoenix 6 API as of 2026, including GravityArmPositionOffset and built-in gain scheduling. Parameter
names and config locations occasionally change between releases, so check against the current CTRE documentation
and API reference.