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

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

Inheritance diagram for ctre::phoenix6::controls::Follower:

Public Member Functions
	Follower (int MasterID, bool OpposeMasterDirection)
	Follow the motor output of another Talon. More...

Follower &	WithMasterID (int newMasterID)
	Modifies this Control Request's MasterID parameter and returns itself for method-chaining and easier to use request API. More...

Follower &	WithOpposeMasterDirection (bool newOpposeMasterDirection)
	Modifies this Control Request's OpposeMasterDirection parameter and returns itself for method-chaining and easier to use request API. More...

Follower &	WithUpdateFreqHz (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 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

ControlRequest &	operator= (ControlRequest const &)=default

ControlRequest &	operator= (ControlRequest &&)=default

Protected Attributes inherited from ctre::phoenix6::controls::ControlRequest
std::string	name

Detailed Description

Follow the 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

◆ Follower()

ctre::phoenix6::controls::Follower::Follower	(	int	MasterID,
		bool	OpposeMasterDirection
	)

inline

Follow the 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

MasterID	Device ID of the master to follow.
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.

Member Function Documentation

◆ GetControlInfo()

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

inlineoverridevirtual

Returns a string representation of the object.

Returns: a string representation of the object.

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

◆ WithMasterID()

Follower & ctre::phoenix6::controls::Follower::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 master to follow.

Parameters

newMasterID Parameter to modify

Returns: Itself

◆ WithOpposeMasterDirection()

Follower & ctre::phoenix6::controls::Follower::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

newOpposeMasterDirection Parameter to modify

Returns: Itself

◆ WithUpdateFreqHz()

Follower & ctre::phoenix6::controls::Follower::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

newUpdateFreqHz Parameter to modify

Returns: Itself

Member Data Documentation

◆ MasterID

int ctre::phoenix6::controls::Follower::MasterID

Device ID of the master to follow.

◆ OpposeMasterDirection

bool ctre::phoenix6::controls::Follower::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::Follower::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:

ctre/phoenix6/controls/Follower.hpp

Public Member Functions

Public Attributes

Additional Inherited Members

Detailed Description

Constructor & Destructor Documentation

◆ Follower()

Member Function Documentation

◆ GetControlInfo()

◆ ToString()

◆ WithMasterID()

◆ WithOpposeMasterDirection()

◆ WithUpdateFreqHz()

Member Data Documentation

◆ MasterID

◆ OpposeMasterDirection

◆ UpdateFreqHz