Package com.ctre.phoenixpro.controls

Class Follower

java.lang.Object
com.ctre.phoenixpro.controls.ControlRequest
com.ctre.phoenixpro.controls.Follower
@Deprecated(forRemoval=true)
public class Follower
extends ControlRequest
Deprecated, for removal: This API element is subject to removal in a future version.
Classes in the phoenixpro package will be removed in 2024. Users should instead use classes from the phoenix6 package.
Follow the motor output of another Talon.

If Talon is in torque control, the torque is copied - which will increase the total torque applied. If Talon is in percent supply output control, the duty cycle is matched. Motor direction either matches master's configured direction or opposes it based on OpposeMasterDirection.

  • Field Summary

    Fields 
    Modifier and Type Field Description
    double configTimeout
    Deprecated, for removal: This API element is subject to removal in a future version.
    The timeout when sending configs associated with this control
    int MasterID
    Deprecated, for removal: This API element is subject to removal in a future version.
    Device ID of the master to follow.
    boolean OpposeMasterDirection
    Deprecated, for removal: This API element is subject to removal in a future version.
    Set to false for motor invert to match the master's configured Invert - which is typical when master and follower are mechanically linked and spin in the same direction.
    double UpdateFreqHz
    Deprecated, for removal: This API element is subject to removal in a future version.
    The period at which this control will update at.

    Fields inherited from class com.ctre.phoenixpro.controls.ControlRequest

    requestReference

  • Constructor Summary

    Constructors 
    Constructor Description
    Follower​(int MasterID, boolean OpposeMasterDirection)
    Deprecated, for removal: This API element is subject to removal in a future version.
    Classes in the phoenixpro package will be removed in 2024.

  • Method Summary

    Modifier and Type Method Description
    void forceApplyConfigs()
    Deprecated, for removal: This API element is subject to removal in a future version.
    Forces configs to be applied the next time this is used in a setControl.
    StatusCode sendRequest​(String network, int deviceHash, boolean cancelOtherRequests)
    Deprecated, for removal: This API element is subject to removal in a future version.
     
    String toString()
    Deprecated, for removal: This API element is subject to removal in a future version.
     
    Follower withMasterID​(int newMasterID)
    Deprecated, for removal: This API element is subject to removal in a future version.
    Modifies this Control Request's MasterID parameter and returns itself for method-chaining and easier to use request API.
    Follower withOpposeMasterDirection​(boolean newOpposeMasterDirection)
    Deprecated, for removal: This API element is subject to removal in a future version.
    Modifies this Control Request's OpposeMasterDirection parameter and returns itself for method-chaining and easier to use request API.
    Follower withUpdateFreqHz​(double newUpdateFreqHz)
    Deprecated, for removal: This API element is subject to removal in a future version.
    Sets the period at which this control will update at.

    Methods inherited from class com.ctre.phoenixpro.controls.ControlRequest

    getControlInfo

    Methods inherited from class java.lang.Object

    clone, equals, finalize, getClass, hashCode, notify, notifyAll, wait, wait, wait

  • Field Details

    • MasterID

      public int MasterID
      Deprecated, for removal: This API element is subject to removal in a future version.
      Device ID of the master to follow.

    • OpposeMasterDirection

      public boolean OpposeMasterDirection
      Deprecated, for removal: This API element is subject to removal in a future version.
      Set to false for motor invert to match the master's configured Invert - which is typical when master and follower are mechanically linked and spin in the same direction. Set to true for motor invert to oppose the master's configured Invert - this is typical where the the master and follower mechanically spin in opposite directions.

    • UpdateFreqHz

      public double UpdateFreqHz
      Deprecated, for removal: This API element is subject to removal in a future version.
      The period at which this control will update at. This is designated in Hertz, with a minimum of 20 Hz (every 50 ms) and a maximum of 1000 Hz (every 1 ms).

      If this field is set to 0 Hz, the control request will be sent immediately as a one-shot frame. This may be useful for advanced applications that require outputs to be synchronized with data acquisition. In this case, we recommend not exceeding 50 ms between control calls.

    • configTimeout

      public double configTimeout
      Deprecated, for removal: This API element is subject to removal in a future version.
      The timeout when sending configs associated with this control

  • Constructor Details

    • Follower

      @Deprecated(forRemoval=true) public Follower​(int MasterID, boolean OpposeMasterDirection)
      Deprecated, for removal: This API element is subject to removal in a future version.
      Classes in the phoenixpro package will be removed in 2024. Users should instead use classes from the phoenix6 package.
      Follow the motor output of another Talon.

      If Talon is in torque control, the torque is copied - which will increase the total torque applied. If Talon is in percent supply output control, the duty cycle is matched. Motor direction either matches master's configured direction or opposes it based on OpposeMasterDirection.

      Parameters:
      MasterID - Device ID of the master to follow.
      OpposeMasterDirection - Set to false for motor invert to match the master's configured Invert - which is typical when master and follower are mechanically linked and spin in the same direction. Set to true for motor invert to oppose the master's configured Invert - this is typical where the the master and follower mechanically spin in opposite directions.

  • Method Details

    • toString

      public String toString()
      Deprecated, for removal: This API element is subject to removal in a future version.
      Overrides:
      toString in class Object

    • sendRequest

      public StatusCode sendRequest​(String network, int deviceHash, boolean cancelOtherRequests)
      Deprecated, for removal: This API element is subject to removal in a future version.
      Specified by:
      sendRequest in class ControlRequest

    • withMasterID

      public Follower withMasterID​(int newMasterID)
      Deprecated, for removal: This API element is subject to removal in a future version.
      Modifies this Control Request's MasterID parameter and returns itself for method-chaining and easier to use request API.
      Parameters:
      newMasterID - Parameter to modify
      Returns:
      Itself

    • withOpposeMasterDirection

      public Follower withOpposeMasterDirection​(boolean newOpposeMasterDirection)
      Deprecated, for removal: This API element is subject to removal in a future version.
      Modifies this Control Request's OpposeMasterDirection parameter and returns itself for method-chaining and easier to use request API.
      Parameters:
      newOpposeMasterDirection - Parameter to modify
      Returns:
      Itself

    • withUpdateFreqHz

      public Follower withUpdateFreqHz​(double newUpdateFreqHz)
      Deprecated, for removal: This API element is subject to removal in a future version.
      Sets the period at which this control will update at. This is designated in Hertz, with a minimum of 20 Hz (every 50 ms) and a maximum of 1000 Hz (every 1 ms).

      If this field is set to 0 Hz, the control request will be sent immediately as a one-shot frame. This may be useful for advanced applications that require outputs to be synchronized with data acquisition. In this case, we recommend not exceeding 50 ms between control calls.

      Parameters:
      newUpdateFreqHz - Parameter to modify
      Returns:
      Itself

    • forceApplyConfigs

      public void forceApplyConfigs()
      Deprecated, for removal: This API element is subject to removal in a future version.
      Forces configs to be applied the next time this is used in a setControl.

      This is not necessary in the majority of cases, because Phoenix will make sure configs are properly set when they are not already set