Package com.ctre.phoenixpro.controls

Class StrictFollower

java.lang.Object
com.ctre.phoenixpro.controls.ControlRequest
com.ctre.phoenixpro.controls.StrictFollower
@Deprecated(forRemoval=true)
public class StrictFollower
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 while ignoring the master's invert setting.

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 is strictly determined by the configured invert and not the master. If you want motor direction to match or oppose the master, use FollowerRequest instead.

  • 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.
    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
    StrictFollower​(int MasterID)
    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.
     
    StrictFollower 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.
    StrictFollower 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.

    • 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

    • StrictFollower

      @Deprecated(forRemoval=true) public StrictFollower​(int MasterID)
      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 while ignoring the master's invert setting.

      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 is strictly determined by the configured invert and not the master. If you want motor direction to match or oppose the master, use FollowerRequest instead.

      Parameters:
      MasterID - Device ID of the master to follow.

  • 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 StrictFollower 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

    • withUpdateFreqHz

      public StrictFollower 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