:py:mod:`phoenix6.controls.differential_strict_follower`
========================================================

.. py:module:: phoenix6.controls.differential_strict_follower

Module Contents
---------------


.. py:class:: DifferentialStrictFollower(master_id: int)


   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.

   :param master_id:    Device ID of the differential master to follow.
   :type master_id: int

   .. py:property:: name
      :type: str

      Gets the name of this control request.

      :returns: Name of the control request
      :rtype: str


   .. py:property:: control_info
      :type: dict

      Gets information about this control request.

      :returns: Dictonary of control parameter names and corresponding applied values
      :rtype: dict


   .. py:attribute:: update_freq_hz
      :type: phoenix6.units.hertz
      :value: 20

      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.


   .. py:attribute:: master_id

      Device ID of the differential master to follow.


   .. py:method:: with_master_id(new_master_id: int) -> DifferentialStrictFollower

      Modifies this Control Request's master_id parameter and returns itself for
      method-chaining and easier to use request API.

      Device ID of the differential master to follow.

      :param new_master_id: Parameter to modify
      :type new_master_id: int
      :returns: Itself
      :rtype: DifferentialStrictFollower


   .. py:method:: with_update_freq_hz(new_update_freq_hz: phoenix6.units.hertz) -> DifferentialStrictFollower

      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.

      :param new_update_freq_hz: Parameter to modify
      :type new_update_freq_hz: hertz
      :returns: Itself
      :rtype: DifferentialStrictFollower