Follow the motor output of another Talon. More...
#include <ctre/phoenix6/controls/Follower.hpp>
Public Member Functions | |
| Follower (int MasterID, bool OpposeMasterDirection) | |
| Follow the motor output of another Talon. | |
| Follower & | WithMasterID (int newMasterID) |
| Modifies this Control Request's MasterID parameter and returns itself for method-chaining and easier to use request API. | |
| Follower & | WithOpposeMasterDirection (bool newOpposeMasterDirection) |
| Modifies this Control Request's OpposeMasterDirection parameter and returns itself for method-chaining and easier to use request API. | |
| Follower & | WithUpdateFreqHz (units::frequency::hertz_t newUpdateFreqHz) |
| Sets the period at which this control will update at. | |
| std::string | ToString () const override |
| Returns a string representation of the object. | |
| std::map< std::string, std::string > | GetControlInfo () const override |
| Gets information about this control request. | |
 Public Member Functions inherited from ctre::phoenix6::controls::ControlRequest | |
| ControlRequest (std::string name) | |
| Constructs a new Control Request with the given name. | |
| std::string const & | GetName () const |
| virtual | ~ControlRequest ()=default |
Public Attributes | |
| int | MasterID |
| Device ID of the master to follow. | |
| bool | OpposeMasterDirection |
| Set to false for motor invert to match the master's configured Invert. | |
| units::frequency::hertz_t | UpdateFreqHz {20_Hz} |
| The period at which this control will update at. | |
Additional Inherited Members | |
| Protected Member Functions inherited from ctre::phoenix6::controls::ControlRequest | |
| ControlRequest (ControlRequest const &)=default | |
| ControlRequest (ControlRequest &&)=default | |
| ControlRequest & | operator= (ControlRequest const &)=default |
| ControlRequest & | operator= (ControlRequest &&)=default |
| Protected Attributes inherited from ctre::phoenix6::controls::ControlRequest | |
| std::string | name |
Detailed Description
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.
Constructor & Destructor Documentation
◆ Follower()
|
inline |
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.
Member Function Documentation
◆ GetControlInfo()
|
inlineoverridevirtual |
Gets information about this control request.
- Returns
- Map of control parameter names and corresponding applied values
Implements ctre::phoenix6::controls::ControlRequest.
◆ ToString()
|
inlineoverridevirtual |
Returns a string representation of the object.
- Returns
- a string representation of the object.
Implements ctre::phoenix6::controls::ControlRequest.
◆ WithMasterID()
|
inline |
Modifies this Control Request's MasterID parameter and returns itself for method-chaining and easier to use request API.
Device ID of the master to follow.
- Parameters
-
newMasterID Parameter to modify
- Returns
- Itself
◆ WithOpposeMasterDirection()
|
inline |
Modifies this Control Request's OpposeMasterDirection parameter and returns itself for method-chaining and easier to use request API.
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.
- Parameters
-
newOpposeMasterDirection Parameter to modify
- Returns
- Itself
◆ WithUpdateFreqHz()
|
inline |
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
Member Data Documentation
◆ MasterID
| int ctre::phoenix6::controls::Follower::MasterID |
Device ID of the master to follow.
◆ OpposeMasterDirection
| bool ctre::phoenix6::controls::Follower::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.
◆ UpdateFreqHz
| units::frequency::hertz_t ctre::phoenix6::controls::Follower::UpdateFreqHz {20_Hz} |
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.
The documentation for this class was generated from the following file:
- ctre/phoenix6/controls/Follower.hpp
