phoenix6.controls.differential_follower¶
Module Contents¶
- class phoenix6.controls.differential_follower.DifferentialFollower(leader_id: int, motor_alignment: MotorAlignmentValue)¶
Follow the differential motor output of another Talon.
If Talon is in torque control, the differential torque is copied - which will increase the total torque applied. If Talon is in duty cycle output control, the differential duty cycle is matched. If Talon is in voltage output control, the differential motor voltage is matched. Motor direction either matches leader’s configured direction or opposes it based on the MotorAlignment.
The leader must enable its DifferentialOutput status signal. The update rate of the status signal determines the update rate of the follower’s output and should be no slower than 20 Hz.
- Parameters:
leader_id (int) – Device ID of the differential leader to follow.
motor_alignment (MotorAlignmentValue) – Set to Aligned for motor invert to match the leader’s configured Invert - which is typical when leader and follower are mechanically linked and spin in the same direction. Set to Opposed for motor invert to oppose the leader’s configured Invert - this is typical where the leader and follower mechanically spin in opposite directions.
- property name: str¶
Gets the name of this control request.
- Returns:
Name of the control request
- Return type:
str
- property control_info: dict¶
Gets information about this control request.
- Returns:
Dictonary of control parameter names and corresponding applied values
- Return type:
dict
- update_freq_hz: phoenix6.units.hertz = '20'¶
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.
- leader_id¶
Device ID of the differential leader to follow.
- motor_alignment¶
Set to Aligned for motor invert to match the leader’s configured Invert - which is typical when leader and follower are mechanically linked and spin in the same direction. Set to Opposed for motor invert to oppose the leader’s configured Invert - this is typical where the leader and follower mechanically spin in opposite directions.
- with_leader_id(new_leader_id: int) DifferentialFollower¶
Modifies this Control Request’s leader_id parameter and returns itself for method-chaining and easier to use request API.
Device ID of the differential leader to follow.
- Parameters:
new_leader_id (int) – Parameter to modify
- Returns:
Itself
- Return type:
- with_motor_alignment(new_motor_alignment: MotorAlignmentValue) DifferentialFollower¶
Modifies this Control Request’s motor_alignment parameter and returns itself for method-chaining and easier to use request API.
Set to Aligned for motor invert to match the leader’s configured Invert - which is typical when leader and follower are mechanically linked and spin in the same direction. Set to Opposed for motor invert to oppose the leader’s configured Invert - this is typical where the leader and follower mechanically spin in opposite directions.
- Parameters:
new_motor_alignment (MotorAlignmentValue) – Parameter to modify
- Returns:
Itself
- Return type:
- with_update_freq_hz(new_update_freq_hz: phoenix6.units.hertz) DifferentialFollower¶
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.
- Parameters:
new_update_freq_hz (hertz) – Parameter to modify
- Returns:
Itself
- Return type: