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

Follow the differential motor output of another Talon while ignoring the master's invert setting. More...

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

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

Public Member Functions

 DifferentialStrictFollower (int MasterID)
 Follow the differential motor output of another Talon while ignoring the master's invert setting. More...
 
DifferentialStrictFollowerWithMasterID (int newMasterID)
 Modifies this Control Request's MasterID parameter and returns itself for method-chaining and easier to use request API. More...
 
DifferentialStrictFollowerWithUpdateFreqHz (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...
 
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 while ignoring the master's invert setting.

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

Constructor & Destructor Documentation

◆ DifferentialStrictFollower()

ctre::phoenix6::controls::DifferentialStrictFollower::DifferentialStrictFollower ( int  MasterID)
inline

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

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

Parameters
MasterIDDevice ID of the differential master to follow.

Member Function Documentation

◆ GetControlInfo()

std::map< std::string, std::string > ctre::phoenix6::controls::DifferentialStrictFollower::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::DifferentialStrictFollower::ToString ( ) const
inlineoverridevirtual

Returns a string representation of the object.

Returns
a string representation of the object.

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

◆ WithMasterID()

DifferentialStrictFollower & ctre::phoenix6::controls::DifferentialStrictFollower::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

◆ WithUpdateFreqHz()

DifferentialStrictFollower & ctre::phoenix6::controls::DifferentialStrictFollower::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::DifferentialStrictFollower::MasterID

Device ID of the differential master to follow.

◆ UpdateFreqHz

units::frequency::hertz_t ctre::phoenix6::controls::DifferentialStrictFollower::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: