phoenix6.controls.differential_strict_follower

Module Contents

class phoenix6.controls.differential_strict_follower.DifferentialStrictFollower(leader_id: int)

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

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

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.

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.

with_leader_id(new_leader_id: int) → DifferentialStrictFollower

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:

DifferentialStrictFollower

with_update_freq_hz(new_update_freq_hz: phoenix6.units.hertz) → DifferentialStrictFollower

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:

DifferentialStrictFollower