Package com.ctre.phoenix6.controls

Class DifferentialFollower

java.lang.Object
com.ctre.phoenix6.controls.ControlRequest
com.ctre.phoenix6.controls.DifferentialFollower
All Implemented Interfaces:
Cloneable
public class DifferentialFollower
extends ControlRequest
implements Cloneable
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.

  • Field Details

    • MasterID

      public int MasterID
      Device ID of the differential master to follow.

    • OpposeMasterDirection

      public boolean 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

      public double UpdateFreqHz
      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.

  • Constructor Details

    • DifferentialFollower

      public DifferentialFollower​(int MasterID, boolean OpposeMasterDirection)
      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:
      MasterID - Device ID of the differential 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.

  • Method Details

    • toString

      public String toString()
      Overrides:
      toString in class Object

    • sendRequest

      public StatusCode sendRequest​(String network, int deviceHash, boolean cancelOtherRequests)
      Specified by:
      sendRequest in class ControlRequest

    • getControlInfo

      public Map<String,​String> getControlInfo()
      Gets information about this control request.
      Specified by:
      getControlInfo in class ControlRequest
      Returns:
      Map of control parameter names and corresponding applied values

    • withMasterID

      public DifferentialFollower withMasterID​(int newMasterID)
      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:
      newMasterID - Parameter to modify
      Returns:
      Itself

    • withOpposeMasterDirection

      public DifferentialFollower withOpposeMasterDirection​(boolean newOpposeMasterDirection)
      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

      public DifferentialFollower withUpdateFreqHz​(double newUpdateFreqHz)
      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

    • clone

      public DifferentialFollower clone()
      Overrides:
      clone in class Object