CTRE Phoenix 6 C++ 24.3.0
ctre::phoenix6::controls::DifferentialFollower Class Reference

Follow the differential motor output of another Talon. More...

#include <ctre/phoenix6/controls/DifferentialFollower.hpp>

Inheritance diagram for ctre::phoenix6::controls::DifferentialFollower:
ctre::phoenix6::controls::ControlRequest

Public Member Functions

 DifferentialFollower (int MasterID, bool OpposeMasterDirection)
 Follow the differential motor output of another Talon. More...
 
DifferentialFollowerWithMasterID (int newMasterID)
 Modifies this Control Request's MasterID parameter and returns itself for method-chaining and easier to use request API. More...
 
DifferentialFollowerWithOpposeMasterDirection (bool newOpposeMasterDirection)
 Modifies this Control Request's OpposeMasterDirection parameter and returns itself for method-chaining and easier to use request API. More...
 
DifferentialFollowerWithUpdateFreqHz (units::frequency::hertz_t newUpdateFreqHz)
 Sets the period at which this control will update at. More...
 
std::string ToString () const override
 Returns a string representation of the object. More...
 
std::map< std::string, std::string > GetControlInfo () const override
 Gets information about this control request. More...
 
- Public Member Functions inherited from ctre::phoenix6::controls::ControlRequest
 ControlRequest (std::string name)
 Constructs a new Control Request with the given name. More...
 
std::string const & GetName () const
 
virtual std::map< std::string, std::string > GetControlInfo () const =0
 Gets information about this control request. More...
 
virtual ~ControlRequest ()=default
 
virtual std::string ToString () const =0
 

Public Attributes

int MasterID
 Device ID of the differential master to follow. More...
 
bool 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. More...
 
units::frequency::hertz_t UpdateFreqHz {20_Hz}
 The period at which this control will update at. More...
 

Additional Inherited Members

- Protected Member Functions inherited from ctre::phoenix6::controls::ControlRequest
 ControlRequest (ControlRequest const &)=default
 
 ControlRequest (ControlRequest &&)=default
 
ControlRequestoperator= (ControlRequest const &)=default
 
ControlRequestoperator= (ControlRequest &&)=default
 
- Protected Attributes inherited from ctre::phoenix6::controls::ControlRequest
std::string name
 

Detailed Description

Follow the differential 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

◆ DifferentialFollower()

ctre::phoenix6::controls::DifferentialFollower::DifferentialFollower ( int  MasterID,
bool  OpposeMasterDirection 
)
inline

Follow the differential 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
MasterIDDevice ID of the differential master to follow.
OpposeMasterDirectionSet 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()

std::map< std::string, std::string > ctre::phoenix6::controls::DifferentialFollower::GetControlInfo ( ) const
inlineoverridevirtual

Gets information about this control request.

Returns
Map of control parameter names and corresponding applied values

Implements ctre::phoenix6::controls::ControlRequest.

◆ ToString()

std::string ctre::phoenix6::controls::DifferentialFollower::ToString ( ) const
inlineoverridevirtual

Returns a string representation of the object.

Returns
a string representation of the object.

Implements ctre::phoenix6::controls::ControlRequest.

◆ WithMasterID()

DifferentialFollower & ctre::phoenix6::controls::DifferentialFollower::WithMasterID ( int  newMasterID)
inline

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

Device ID of the differential master to follow.

Parameters
newMasterIDParameter to modify
Returns
Itself

◆ WithOpposeMasterDirection()

DifferentialFollower & ctre::phoenix6::controls::DifferentialFollower::WithOpposeMasterDirection ( bool  newOpposeMasterDirection)
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
newOpposeMasterDirectionParameter to modify
Returns
Itself

◆ WithUpdateFreqHz()

DifferentialFollower & ctre::phoenix6::controls::DifferentialFollower::WithUpdateFreqHz ( units::frequency::hertz_t  newUpdateFreqHz)
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
newUpdateFreqHzParameter to modify
Returns
Itself

Member Data Documentation

◆ MasterID

int ctre::phoenix6::controls::DifferentialFollower::MasterID

Device ID of the differential master to follow.

◆ OpposeMasterDirection

bool ctre::phoenix6::controls::DifferentialFollower::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::DifferentialFollower::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: