Implement Vendor Library for Talon (ala Spark)

[stulewin]

Implement a vendor library similar to the one for the Spark we extended and use it for calls to capture and report status (especially around Subsystem construction to know it happened cleanly).

[stulewin]

It looks like the library doesn't keep internal state - but retries are 'allowed' for specific errors.

Yes, you can retry CTR Electronics TalonFX (Phoenix 6) API calls by checking the returned StatusCode. Implement logic to retry on transient errors—such as CAN bus errors (e.g., InvalidNetwork) or timeouts—using a loop, limited attempts, and a small delay to avoid overwhelming the bus.
CloverDX Forum
CloverDX Forum
+4
Recommended Approach
Check StatusCode: Analyze the return value of functions like setPosition() or setControl().
Retry on Specific Codes: Retry if the status indicates a temporary failure, such as StatusCode::InvalidNetwork or other CAN bus glitches.
Avoid Excessive Retries: Do not retry 4xx (client error) codes. Only retry 5xx or specific hardware-related status codes.
Implementation: Use a loop to retry 2-3 times with a brief delay (e.g., 10-20ms) to allow the CAN bus to recover.
CloverDX Forum
CloverDX Forum
+4

`// Example in Java (Phoenix 6)
var status = StatusCode.OK;
int retries = 0;
do {
status = talonFX.setPosition(0);
if (status.isOK()) break;
retries++;
// Add small delay here if necessary
} while (retries < 3);

if (!status.isOK()) {
// Handle persistent failure
}`