Package com.ctre.phoenix6.controls

Class StrictFollower

java.lang.Object

com.ctre.phoenix6.controls.ControlRequest

com.ctre.phoenix6.controls.StrictFollower

All Implemented Interfaces:

Cloneable

public class StrictFollower
extends ControlRequest
implements Cloneable

Follow the 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 Summary

Fields

Modifier and Type	Field	Description
int	MasterID	Device ID of the master to follow.
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
StrictFollower(int MasterID)	Follow the motor output of another Talon while ignoring the master's invert setting.

Method Summary

Modifier and Type	Method	Description
StrictFollower	clone()
Map<String,String>	getControlInfo()	Gets information about this control request.
StatusCode	sendRequest(String network, int deviceHash, boolean cancelOtherRequests)
String	toString()
StrictFollower	withMasterID(int newMasterID)	Modifies this Control Request's MasterID parameter and returns itself for method-chaining and easier to use request API.
StrictFollower	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.

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

StrictFollower

public StrictFollower(int MasterID)

Follow the 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 master to follow.

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 StrictFollower 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

withUpdateFreqHz

public StrictFollower 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 StrictFollower clone()

Overrides:

clone in class Object