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Vendor Tools & Additional Software

WPILib provides the foundation, but to update firmware, tune PID values, and configure CAN IDs on your motors, you need the specific software provided by the hardware vendors.

Essential Vendor Clients

  • Redux Alchemist

    The configurator for Canand devices (like the Canandgyro and Canandcoder).

    • OS: Windows, macOS, Linux
    • Key Feature: Requires a "CANLink" server running on the robot code to communicate.

    Download Alchemist

  • CTRE Phoenix Tuner X

    Used for all TalonFX (Krakens/Falcons), CANcoders, and Pigeon 2.0.

    • OS: Windows (Microsoft Store), Android, iOS
    • Key Feature: Includes the Swerve Generator and advanced signal logging.

    Download Tuner X

  • REV Hardware Client

    Used for Spark MAX, Spark Flex, and NEO motors.

    • OS: Windows (Only)
    • Key Feature: Native USB-C connection to controllers for standalone tuning.

    Download RHC2

  • Limelight Hardware Manager

    Used to discover Limelights on the network and flash them with new OS images.

    • OS: Windows, macOS (Intel & Silicon)
    • Key Feature: Finds cameras even if mDNS is failing.

    Download Hardware Manager

Unlike other vendors, Redux Alchemist requires your robot code to be running a CANLink Server to bridge the connection between your laptop and the CAN bus.

To enable communication, you must include the ReduxLib vendordep and add the following to your robotInit():

import com.reduxrobotics.canand.CanandEventLoop;

// Inside robotInit()
CanandEventLoop.getInstance();

#include <redux/canand/CanandEventLoop.h>

// Inside RobotInit()
redux::canand::EnsureCANLinkServer();

Verification

Once the code is deployed, navigate to http://roborio-####-FRC.local:7244 in your browser. If you see the "Redux CANLink" ASCII art, Alchemist is ready to connect.

The REV "RHC2" Firmware Gap

Critical Warning for REV Users

For the 2026 season, REV Devices must be running Firmware 26.x.x or newer to be compatible with REV Hardware Client 2 (RHC2).

If you have a brand-new Spark MAX or one running 2025 firmware, RHC2 will flag it as an "Outdated REV Device" and may fail to interact with it properly.

The Fix:

  1. Ensure you have installed the drivers found in the RHC2 settings menu.
  2. If the device is still not detected, use Recovery Mode: Hold the Mode button while plugging in USB, then use the Client to "Load Firmware" manually.
  3. In some cases, you may need to use the older RHC 1.7.6 to perform the initial jump to 2026 firmware before RHC2 will recognize the device.

SD Card Flashing & Network Utilities

Before you can use a Coprocessor (like an Orange Pi, Rubik Pi, or Limelight), you must flash its storage with an operating system.

  • Balena Etcher: The standard tool for flashing PhotonVision or WPILibPi images to MicroSD cards.
  • Angry IP Scanner: If you can't find your coprocessor at photonvision.local, use this to scan your subnet (10.TE.AM.x) to find the actual IP address.
  • dfu-util: An advanced command-line tool for Linux/macOS users to flash Spark MAX controllers in DFU mode without using the REV Hardware Client.

How to use dfu-util

If you put the Spark Max/Flex into recovery mode, you can use sudo dfu-util -a 0 -D SparkMax-[version]-[hash].dfu in the terminal (if it is installed) to flash the device.