Controlling Devices
===================

Tuner X can be used to directly control devices outside a robot program. When combined with :ref:`docs/tuner/plotting:plotting`, it can be an excellent tool for calculating closed loop gains or isolating mechanical issues.

.. image:: images/highlighting-tuner-controls.png
   :alt: Indicating the control section in Tuner
   :width: 70%

Devices can be controlled by clicking on the red "DISABLED" button, switching it to "ENABLED".

.. important:: FRC users must enable the robot in Driver Station while using Tuner X control.

During this time, the output can be adjusted using the sliders or the text entries below it.

.. image:: images/highlighting-control-sliders.png
   :alt: Control sliders in the middle of the controls pane
   :width: 70%

Control modes can be changed using the dropdown below the disable/enable button.

.. image:: images/control-dropdown.png
   :alt: The control dropdown below the enable/disable button
   :width: 50%

FRC Locked
----------

The "lock" icon next to the "DISABLED" button indicates that this device is FRC locked. This means the FRC Driver Station **must** also be enabled for the device to actuate. For more information, see :ref:`docs/api-reference/api-usage/enabling-actuators:frc lock`.

.. image:: images/highlighting-frc-lock.png
   :alt: Highlighting the FRC lock icon next to DISABLED
   :width: 50%