Class StrictFollower

Namespace

CTRE.Phoenix6.Controls

Assembly

Phoenix6.Hardware.dll

Follow the motor output of another Talon while ignoring the leader's invert setting.

If Talon is in torque control, the torque is copied - which will increase the total torque applied. If Talon is in duty cycle output control, the duty cycle is matched. If Talon is in voltage output control, the motor voltage is matched. Motor direction is strictly determined by the configured invert and not the leader. If you want motor direction to match or oppose the leader, use Follower instead.

The leader must enable the status signal corresponding to its control output type (DutyCycle, MotorVoltage, TorqueCurrent). The update rate of the status signal determines the update rate of the follower's output and should be no slower than 20 Hz.

public sealed class StrictFollower : ControlRequest, ICloneable

Inheritance

object

StrictFollower

Implements

ControlRequest

ICloneable

Inherited Members

object.Equals(object)

object.Equals(object, object)

object.GetHashCode()

object.GetType()

object.ReferenceEquals(object, object)

Constructors

StrictFollower(int)

Follow the motor output of another Talon while ignoring the leader's invert setting.

If Talon is in torque control, the torque is copied - which will increase the total torque applied. If Talon is in duty cycle output control, the duty cycle is matched. If Talon is in voltage output control, the motor voltage is matched. Motor direction is strictly determined by the configured invert and not the leader. If you want motor direction to match or oppose the leader, use Follower instead.

The leader must enable the status signal corresponding to its control output type (DutyCycle, MotorVoltage, TorqueCurrent). The update rate of the status signal determines the update rate of the follower's output and should be no slower than 20 Hz. Device ID of the leader to follow.

public StrictFollower(int LeaderID)

Parameters

LeaderID int

Fields

LeaderID

Device ID of the leader to follow.

public int LeaderID

Field Value

int

UpdateFreqHz

The frequency at which this control will update. This is designated in Hertz, with a minimum of 20 Hz (every 50 ms) and a maximum of 1000 Hz (every 1 ms). Some update frequencies are not supported and will be promoted up to the next highest supported frequency.

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.

public double UpdateFreqHz

Field Value

double

Properties

Name

Name of this control request.

public string Name { get; }

Property Value

string

Methods

Clone()

Creates a copy of this control request.

public StrictFollower Clone()

Returns

StrictFollower

GetControlInfo()

Gets information about this control request.

public Dictionary<string, string> GetControlInfo()

Returns

Dictionary<string, string>

Dictionary of control parameter names and corresponding applied values

SendRequest(string, uint)

Sends this request out over CAN bus to the device for the device to apply.

public StatusCode SendRequest(string network, uint deviceHash)

Parameters

network string

Network to send request over

deviceHash uint

Device to send request to

Returns

StatusCode

Status of the send operation

ToString()

Provides the string representation of this object.

public override string ToString()

Returns

string

WithLeaderID(int)

Modifies this Control Request's LeaderID parameter and returns itself for method-chaining and easier to use request API.

Device ID of the leader to follow.

public StrictFollower WithLeaderID(int newLeaderID)

Parameters

newLeaderID int

Parameter to modify

Returns

StrictFollower

Itself

WithUpdateFreqHz(double)

Sets the frequency at which this control will update. This is designated in Hertz, with a minimum of 20 Hz (every 50 ms) and a maximum of 1000 Hz (every 1 ms). Some update frequencies are not supported and will be promoted up to the next highest supported frequency.

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.

public StrictFollower WithUpdateFreqHz(double newUpdateFreqHz)

Parameters

newUpdateFreqHz double

Parameter to modify

Returns

StrictFollower

Itself