Package com.ctre.phoenix6.controls

Class DifferentialStrictFollower

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

  • Field Details

    • MasterID

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

    • 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

    • DifferentialStrictFollower

      public DifferentialStrictFollower(int MasterID)
      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:
      MasterID - Device ID of the differential master to follow.

  • Method Details

    • toString

      public String toString()
      Overrides:
      toString in class Object

    • sendRequest

      public StatusCode sendRequest(String network, int deviceHash)
      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 DifferentialStrictFollower 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

    • withUpdateFreqHz

      public DifferentialStrictFollower 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.

      Specified by:
      withUpdateFreqHz in class ControlRequest
      Parameters:
      newUpdateFreqHz - Parameter to modify
      Returns:
      Itself

    • withUpdateFreqHz

      public DifferentialStrictFollower withUpdateFreqHz(Frequency 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.

      Specified by:
      withUpdateFreqHz in class ControlRequest
      Parameters:
      newUpdateFreqHz - Parameter to modify
      Returns:
      Itself

    • clone

      public DifferentialStrictFollower clone()
      Overrides:
      clone in class Object