Class Follower

java.lang.Object
com.ctre.phoenix6.controls.ControlRequest
com.ctre.phoenix6.controls.Follower
All Implemented Interfaces:
Cloneable

public class Follower
extends ControlRequest
implements Cloneable
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.

  • Field Summary

    Fields 
    Modifier and Type Field Description
    int MasterID
    Device ID of the master to follow.
    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.
    double UpdateFreqHz
    The period at which this control will update at.

    Fields inherited from class com.ctre.phoenix6.controls.ControlRequest

    name
  • Constructor Summary

    Constructors 
    Constructor Description
    Follower​(int MasterID, boolean OpposeMasterDirection)
    Follow the motor output of another Talon.
  • Method Summary

    Modifier and Type Method Description
    Follower clone()  
    Map<String,​String> getControlInfo()
    Gets information about this control request.
    StatusCode sendRequest​(String network, int deviceHash, boolean cancelOtherRequests)  
    String toString()  
    Follower withMasterID​(int newMasterID)
    Modifies this Control Request's MasterID parameter and returns itself for method-chaining and easier to use request API.
    Follower withOpposeMasterDirection​(boolean newOpposeMasterDirection)
    Modifies this Control Request's OpposeMasterDirection parameter and returns itself for method-chaining and easier to use request API.
    Follower withUpdateFreqHz​(double newUpdateFreqHz)
    Sets the period at which this control will update at.

    Methods inherited from class com.ctre.phoenix6.controls.ControlRequest

    getName

    Methods inherited from class java.lang.Object

    equals, finalize, getClass, hashCode, notify, notifyAll, wait, wait, wait
  • Field Details

    • MasterID

      public int MasterID
      Device ID of the 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

    • Follower

      public Follower​(int MasterID, boolean OpposeMasterDirection)
      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.
  • 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

      Gets information about this control request.
      Specified by:
      getControlInfo in class ControlRequest
      Returns:
      Map of control parameter names and corresponding applied values
    • withMasterID

      public Follower 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 master to follow.

      Parameters:
      newMasterID - Parameter to modify
      Returns:
      Itself
    • withOpposeMasterDirection

      public Follower 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 Follower 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 Follower clone()
      Overrides:
      clone in class Object